{"id": 0, "episode_id": "1", "scene_id": "s8pcmisQ38h", "instruction": "Walk down the stairs, turn right, and walk towards place with a rug. Wait near the bench and piano along the right side of the wall. ", "start_position": [5.582849979400635, -1.6265579462051392, 2.817889928817749], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [11.632800102233887, -3.1616740226745605, 1.9992599487304688], "goal_radius": 3.0, "reference_path": "[[5.582849979400635, -1.6265579462051392, 2.817889928817749], [4.822649955749512, -2.2173328399658203, 2.7935900688171387], [3.584249973297119, -2.761673927307129, 2.7057600021362305], [4.091310024261475, -3.1616740226745605, 1.2295000553131104], [7.354829788208008, -3.1616740226745605, 1.3889299631118774], [11.632800102233887, -3.1616740226745605, 1.9992599487304688]]", "geodesic_distance": 10.39185905456543, "gt_locations": "[[5.582849979400635, -1.6265579462051392, 2.817889928817749], [5.3663434982299805, -1.8215138912200928, 2.942889928817749], [5.1163434982299805, -2.001751661300659, 2.942889928817749], [4.8663434982299805, -2.201474905014038, 2.942889928817749], [4.6163434982299805, -2.345426559448242, 2.942889928817749], [4.3663434982299805, -2.4584598541259766, 2.942889928817749], [4.1163434982299805, -2.571934938430786, 2.942889928817749], [3.8748619556427, -2.694392681121826, 2.878185272216797], [3.8748619556427, -2.7440381050109863, 2.628185272216797], [3.8748619556427, -2.761673927307129, 2.378185272216797], [3.810157060623169, -2.804445266723633, 2.1367037296295166], [3.810157060623169, -3.0038490295410156, 1.8867037296295166], [3.874861717224121, -3.1616740226745605, 1.6452223062515259], [4.124861717224121, -3.1616740226745605, 1.6452223062515259], [4.374861717224121, -3.1616740226745605, 1.6452223062515259], [4.624861717224121, -3.1616740226745605, 1.6452223062515259], [4.874861717224121, -3.1616740226745605, 1.6452223062515259], [5.124861717224121, -3.1616740226745605, 1.6452223062515259], [5.374861717224121, -3.1616740226745605, 1.6452223062515259], [5.624861717224121, -3.1616740226745605, 1.6452223062515259], [5.874861717224121, -3.1616740226745605, 1.6452223062515259], [6.116343021392822, -3.1616740226745605, 1.5805175304412842], [6.357824325561523, -3.1616740226745605, 1.5158127546310425], [6.599305629730225, -3.1616740226745605, 1.4511079788208008], [6.849305629730225, -3.1616740226745605, 1.4511079788208008], [7.099305629730225, -3.1616740226745605, 1.4511079788208008], [7.349305629730225, -3.1616740226745605, 1.4511079788208008], [7.599305629730225, -3.1616740226745605, 1.4511079788208008], [7.849305629730225, -3.1616740226745605, 1.4511079788208008], [8.099306106567383, -3.1616740226745605, 1.4511079788208008], [8.349306106567383, -3.1616740226745605, 1.4511079788208008], [8.599306106567383, -3.1616740226745605, 1.4511079788208008], [8.840787887573242, -3.1616740226745605, 1.5158127546310425], [9.082269668579102, -3.1616740226745605, 1.5805175304412842], [9.323751449584961, -3.1616740226745605, 1.6452223062515259], [9.56523323059082, -3.1616740226745605, 1.7099270820617676], [9.80671501159668, -3.1616740226745605, 1.7746318578720093], [10.048196792602539, -3.1616740226745605, 1.839336633682251], [10.289678573608398, -3.1616740226745605, 1.9040414094924927], [10.539678573608398, -3.1616740226745605, 1.9040414094924927], [10.789678573608398, -3.1616740226745605, 1.9040414094924927], [11.039678573608398, -3.1616740226745605, 1.9040414094924927], [11.281160354614258, -3.1616740226745605, 1.9687461853027344]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 0]"}
{"id": 1, "episode_id": "2", "scene_id": "s8pcmisQ38h", "instruction": "Go down the stairs, and take a right . walk forward towards the leather chairs next to the table. Once you reach the bench on your right stop and stand on the wood between the bench and the carpet. ", "start_position": [5.582849979400635, -1.6265579462051392, 2.817889928817749], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [11.632800102233887, -3.1616740226745605, 1.9992599487304688], "goal_radius": 3.0, "reference_path": "[[5.582849979400635, -1.6265579462051392, 2.817889928817749], [4.822649955749512, -2.2173328399658203, 2.7935900688171387], [3.584249973297119, -2.761673927307129, 2.7057600021362305], [4.091310024261475, -3.1616740226745605, 1.2295000553131104], [7.354829788208008, -3.1616740226745605, 1.3889299631118774], [11.632800102233887, -3.1616740226745605, 1.9992599487304688]]", "geodesic_distance": 10.39185905456543, "gt_locations": "[[5.582849979400635, -1.6265579462051392, 2.817889928817749], [5.3663434982299805, -1.8215138912200928, 2.942889928817749], [5.1163434982299805, -2.001751661300659, 2.942889928817749], [4.8663434982299805, -2.201474905014038, 2.942889928817749], [4.6163434982299805, -2.345426559448242, 2.942889928817749], [4.3663434982299805, -2.4584598541259766, 2.942889928817749], [4.1163434982299805, -2.571934938430786, 2.942889928817749], [3.8748619556427, -2.694392681121826, 2.878185272216797], [3.8748619556427, -2.7440381050109863, 2.628185272216797], [3.8748619556427, -2.761673927307129, 2.378185272216797], [3.810157060623169, -2.804445266723633, 2.1367037296295166], [3.810157060623169, -3.0038490295410156, 1.8867037296295166], [3.874861717224121, -3.1616740226745605, 1.6452223062515259], [4.124861717224121, -3.1616740226745605, 1.6452223062515259], [4.374861717224121, -3.1616740226745605, 1.6452223062515259], [4.624861717224121, -3.1616740226745605, 1.6452223062515259], [4.874861717224121, -3.1616740226745605, 1.6452223062515259], [5.124861717224121, -3.1616740226745605, 1.6452223062515259], [5.374861717224121, -3.1616740226745605, 1.6452223062515259], [5.624861717224121, -3.1616740226745605, 1.6452223062515259], [5.874861717224121, -3.1616740226745605, 1.6452223062515259], [6.116343021392822, -3.1616740226745605, 1.5805175304412842], [6.357824325561523, -3.1616740226745605, 1.5158127546310425], [6.599305629730225, -3.1616740226745605, 1.4511079788208008], [6.849305629730225, -3.1616740226745605, 1.4511079788208008], [7.099305629730225, -3.1616740226745605, 1.4511079788208008], [7.349305629730225, -3.1616740226745605, 1.4511079788208008], [7.599305629730225, -3.1616740226745605, 1.4511079788208008], [7.849305629730225, -3.1616740226745605, 1.4511079788208008], [8.099306106567383, -3.1616740226745605, 1.4511079788208008], [8.349306106567383, -3.1616740226745605, 1.4511079788208008], [8.599306106567383, -3.1616740226745605, 1.4511079788208008], [8.840787887573242, -3.1616740226745605, 1.5158127546310425], [9.082269668579102, -3.1616740226745605, 1.5805175304412842], [9.323751449584961, -3.1616740226745605, 1.6452223062515259], [9.56523323059082, -3.1616740226745605, 1.7099270820617676], [9.80671501159668, -3.1616740226745605, 1.7746318578720093], [10.048196792602539, -3.1616740226745605, 1.839336633682251], [10.289678573608398, -3.1616740226745605, 1.9040414094924927], [10.539678573608398, -3.1616740226745605, 1.9040414094924927], [10.789678573608398, -3.1616740226745605, 1.9040414094924927], [11.039678573608398, -3.1616740226745605, 1.9040414094924927], [11.281160354614258, -3.1616740226745605, 1.9687461853027344]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 0]"}
{"id": 2, "episode_id": "3", "scene_id": "s8pcmisQ38h", "instruction": "Go down the stairs. Turn right.  Go past the glass display case and wait in front of the bench on the right. ", "start_position": [5.582849979400635, -1.6265579462051392, 2.817889928817749], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [11.632800102233887, -3.1616740226745605, 1.9992599487304688], "goal_radius": 3.0, "reference_path": "[[5.582849979400635, -1.6265579462051392, 2.817889928817749], [4.822649955749512, -2.2173328399658203, 2.7935900688171387], [3.584249973297119, -2.761673927307129, 2.7057600021362305], [4.091310024261475, -3.1616740226745605, 1.2295000553131104], [7.354829788208008, -3.1616740226745605, 1.3889299631118774], [11.632800102233887, -3.1616740226745605, 1.9992599487304688]]", "geodesic_distance": 10.39185905456543, "gt_locations": "[[5.582849979400635, -1.6265579462051392, 2.817889928817749], [5.3663434982299805, -1.8215138912200928, 2.942889928817749], [5.1163434982299805, -2.001751661300659, 2.942889928817749], [4.8663434982299805, -2.201474905014038, 2.942889928817749], [4.6163434982299805, -2.345426559448242, 2.942889928817749], [4.3663434982299805, -2.4584598541259766, 2.942889928817749], [4.1163434982299805, -2.571934938430786, 2.942889928817749], [3.8748619556427, -2.694392681121826, 2.878185272216797], [3.8748619556427, -2.7440381050109863, 2.628185272216797], [3.8748619556427, -2.761673927307129, 2.378185272216797], [3.810157060623169, -2.804445266723633, 2.1367037296295166], [3.810157060623169, -3.0038490295410156, 1.8867037296295166], [3.874861717224121, -3.1616740226745605, 1.6452223062515259], [4.124861717224121, -3.1616740226745605, 1.6452223062515259], [4.374861717224121, -3.1616740226745605, 1.6452223062515259], [4.624861717224121, -3.1616740226745605, 1.6452223062515259], [4.874861717224121, -3.1616740226745605, 1.6452223062515259], [5.124861717224121, -3.1616740226745605, 1.6452223062515259], [5.374861717224121, -3.1616740226745605, 1.6452223062515259], [5.624861717224121, -3.1616740226745605, 1.6452223062515259], [5.874861717224121, -3.1616740226745605, 1.6452223062515259], [6.116343021392822, -3.1616740226745605, 1.5805175304412842], [6.357824325561523, -3.1616740226745605, 1.5158127546310425], [6.599305629730225, -3.1616740226745605, 1.4511079788208008], [6.849305629730225, -3.1616740226745605, 1.4511079788208008], [7.099305629730225, -3.1616740226745605, 1.4511079788208008], [7.349305629730225, -3.1616740226745605, 1.4511079788208008], [7.599305629730225, -3.1616740226745605, 1.4511079788208008], [7.849305629730225, -3.1616740226745605, 1.4511079788208008], [8.099306106567383, -3.1616740226745605, 1.4511079788208008], [8.349306106567383, -3.1616740226745605, 1.4511079788208008], [8.599306106567383, -3.1616740226745605, 1.4511079788208008], [8.840787887573242, -3.1616740226745605, 1.5158127546310425], [9.082269668579102, -3.1616740226745605, 1.5805175304412842], [9.323751449584961, -3.1616740226745605, 1.6452223062515259], [9.56523323059082, -3.1616740226745605, 1.7099270820617676], [9.80671501159668, -3.1616740226745605, 1.7746318578720093], [10.048196792602539, -3.1616740226745605, 1.839336633682251], [10.289678573608398, -3.1616740226745605, 1.9040414094924927], [10.539678573608398, -3.1616740226745605, 1.9040414094924927], [10.789678573608398, -3.1616740226745605, 1.9040414094924927], [11.039678573608398, -3.1616740226745605, 1.9040414094924927], [11.281160354614258, -3.1616740226745605, 1.9687461853027344]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 0]"}
{"id": 3, "episode_id": "4", "scene_id": "E9uDoFAP3SH", "instruction": "TURN LEFT YOU FACE A CHANDELIER ABOVE A GREEN TABLE WITH A DOOR WAY TO THE LEFT AND AN OPEN DOOR ON THE FAR WALL, WALK TOWARDS THE OPEN DOOR ON THE FAR WALL, WALK THOUGH THE DOOR AND DOWN THE HALLWAY INTO A ROOM WITH A BLUE PATTERNED CARPET AND A TABLE IN THE MIDDLE OF THE ROOM. ", "start_position": [13.333499908447266, 0.24438095092773438, 5.276130199432373], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [2.3771300315856934, 0.24438095092773438, 4.029669761657715], "goal_radius": 3.0, "reference_path": "[[13.333499908447266, 0.24438095092773438, 5.276130199432373], [11.773900032043457, 0.24438095092773438, 6.323110103607178], [10.30150032043457, 0.24438095092773438, 5.45274019241333], [7.659709930419922, 0.24438095092773438, 4.078279972076416], [5.841370105743408, 0.24438095092773438, 4.036479949951172], [2.3771300315856934, 0.24438095092773438, 4.029669761657715]]", "geodesic_distance": 11.194713592529297, "gt_locations": "[[13.333499908447266, 0.24438095092773438, 5.276130199432373], [13.11699390411377, 0.24438095092773438, 5.401130199432373], [12.900487899780273, 0.24438095092773438, 5.526130199432373], [12.683981895446777, 0.24438095092773438, 5.651130199432373], [12.467475891113281, 0.24438095092773438, 5.776130199432373], [12.250969886779785, 0.24438095092773438, 5.901130199432373], [12.074193000793457, 0.24438095092773438, 6.077907085418701], [11.832711219787598, 0.24438095092773438, 6.01320219039917], [11.591229438781738, 0.24438095092773438, 5.948497295379639], [11.349747657775879, 0.24438095092773438, 5.883792400360107], [11.10826587677002, 0.24438095092773438, 5.819087505340576], [10.86678409576416, 0.24438095092773438, 5.754382610321045], [10.650278091430664, 0.24438095092773438, 5.629382610321045], [10.433772087097168, 0.24438095092773438, 5.504382610321045], [10.217266082763672, 0.24438095092773438, 5.379382610321045], [10.000760078430176, 0.24438095092773438, 5.254382610321045], [9.78425407409668, 0.24438095092773438, 5.129382610321045], [9.567748069763184, 0.24438095092773438, 5.004382610321045], [9.351242065429688, 0.24438095092773438, 4.879382610321045], [9.134736061096191, 0.24438095092773438, 4.754382610321045], [8.918230056762695, 0.24438095092773438, 4.629382610321045], [8.7017240524292, 0.24438095092773438, 4.504382610321045], [8.485218048095703, 0.24438095092773438, 4.379382610321045], [8.243736267089844, 0.24438095092773438, 4.314677715301514], [8.002254486083984, 0.24438095092773438, 4.249972820281982], [7.760773181915283, 0.24438095092773438, 4.185267925262451], [7.510773181915283, 0.24438095092773438, 4.185267925262451], [7.260773181915283, 0.24438095092773438, 4.185267925262451], [7.010773181915283, 0.24438095092773438, 4.185267925262451], [6.760773181915283, 0.24438095092773438, 4.185267925262451], [6.510773181915283, 0.24438095092773438, 4.185267925262451], [6.269291877746582, 0.24438095092773438, 4.12056303024292], [6.019291877746582, 0.24438095092773438, 4.12056303024292], [5.769291877746582, 0.24438095092773438, 4.12056303024292], [5.519291877746582, 0.24438095092773438, 4.12056303024292], [5.269291877746582, 0.24438095092773438, 4.12056303024292], [5.019291877746582, 0.24438095092773438, 4.12056303024292], [4.769291877746582, 0.24438095092773438, 4.12056303024292], [4.519291877746582, 0.24438095092773438, 4.12056303024292], [4.269291877746582, 0.24438095092773438, 4.12056303024292], [4.019291877746582, 0.24438095092773438, 4.12056303024292], [3.769291877746582, 0.24438095092773438, 4.12056303024292], [3.519291877746582, 0.24438095092773438, 4.12056303024292], [3.269291877746582, 0.24438095092773438, 4.12056303024292], [3.019291877746582, 0.24438095092773438, 4.12056303024292], [2.769291877746582, 0.24438095092773438, 4.12056303024292]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 4, "episode_id": "5", "scene_id": "E9uDoFAP3SH", "instruction": "Walk through the office passed the table and armchairs. Walk through the door on the other side of the table swith the arched window above. Walk down the hall and into the room at the end of the hallway. Walk towards the circular tables in the middle of the large room. ", "start_position": [13.333499908447266, 0.24438095092773438, 5.276130199432373], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [2.3771300315856934, 0.24438095092773438, 4.029669761657715], "goal_radius": 3.0, "reference_path": "[[13.333499908447266, 0.24438095092773438, 5.276130199432373], [11.773900032043457, 0.24438095092773438, 6.323110103607178], [10.30150032043457, 0.24438095092773438, 5.45274019241333], [7.659709930419922, 0.24438095092773438, 4.078279972076416], [5.841370105743408, 0.24438095092773438, 4.036479949951172], [2.3771300315856934, 0.24438095092773438, 4.029669761657715]]", "geodesic_distance": 11.194713592529297, "gt_locations": "[[13.333499908447266, 0.24438095092773438, 5.276130199432373], [13.11699390411377, 0.24438095092773438, 5.401130199432373], [12.900487899780273, 0.24438095092773438, 5.526130199432373], [12.683981895446777, 0.24438095092773438, 5.651130199432373], [12.467475891113281, 0.24438095092773438, 5.776130199432373], [12.250969886779785, 0.24438095092773438, 5.901130199432373], [12.074193000793457, 0.24438095092773438, 6.077907085418701], [11.832711219787598, 0.24438095092773438, 6.01320219039917], [11.591229438781738, 0.24438095092773438, 5.948497295379639], [11.349747657775879, 0.24438095092773438, 5.883792400360107], [11.10826587677002, 0.24438095092773438, 5.819087505340576], [10.86678409576416, 0.24438095092773438, 5.754382610321045], [10.650278091430664, 0.24438095092773438, 5.629382610321045], [10.433772087097168, 0.24438095092773438, 5.504382610321045], [10.217266082763672, 0.24438095092773438, 5.379382610321045], [10.000760078430176, 0.24438095092773438, 5.254382610321045], [9.78425407409668, 0.24438095092773438, 5.129382610321045], [9.567748069763184, 0.24438095092773438, 5.004382610321045], [9.351242065429688, 0.24438095092773438, 4.879382610321045], [9.134736061096191, 0.24438095092773438, 4.754382610321045], [8.918230056762695, 0.24438095092773438, 4.629382610321045], [8.7017240524292, 0.24438095092773438, 4.504382610321045], [8.485218048095703, 0.24438095092773438, 4.379382610321045], [8.243736267089844, 0.24438095092773438, 4.314677715301514], [8.002254486083984, 0.24438095092773438, 4.249972820281982], [7.760773181915283, 0.24438095092773438, 4.185267925262451], [7.510773181915283, 0.24438095092773438, 4.185267925262451], [7.260773181915283, 0.24438095092773438, 4.185267925262451], [7.010773181915283, 0.24438095092773438, 4.185267925262451], [6.760773181915283, 0.24438095092773438, 4.185267925262451], [6.510773181915283, 0.24438095092773438, 4.185267925262451], [6.269291877746582, 0.24438095092773438, 4.12056303024292], [6.019291877746582, 0.24438095092773438, 4.12056303024292], [5.769291877746582, 0.24438095092773438, 4.12056303024292], [5.519291877746582, 0.24438095092773438, 4.12056303024292], [5.269291877746582, 0.24438095092773438, 4.12056303024292], [5.019291877746582, 0.24438095092773438, 4.12056303024292], [4.769291877746582, 0.24438095092773438, 4.12056303024292], [4.519291877746582, 0.24438095092773438, 4.12056303024292], [4.269291877746582, 0.24438095092773438, 4.12056303024292], [4.019291877746582, 0.24438095092773438, 4.12056303024292], [3.769291877746582, 0.24438095092773438, 4.12056303024292], [3.519291877746582, 0.24438095092773438, 4.12056303024292], [3.269291877746582, 0.24438095092773438, 4.12056303024292], [3.019291877746582, 0.24438095092773438, 4.12056303024292], [2.769291877746582, 0.24438095092773438, 4.12056303024292]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 5, "episode_id": "6", "scene_id": "E9uDoFAP3SH", "instruction": "Exit the room through the only door with an arched, round design above it. Continue straight through the small hall and enter the next room. Stop once you reach the blue mat. ", "start_position": [13.333499908447266, 0.24438095092773438, 5.276130199432373], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [2.3771300315856934, 0.24438095092773438, 4.029669761657715], "goal_radius": 3.0, "reference_path": "[[13.333499908447266, 0.24438095092773438, 5.276130199432373], [11.773900032043457, 0.24438095092773438, 6.323110103607178], [10.30150032043457, 0.24438095092773438, 5.45274019241333], [7.659709930419922, 0.24438095092773438, 4.078279972076416], [5.841370105743408, 0.24438095092773438, 4.036479949951172], [2.3771300315856934, 0.24438095092773438, 4.029669761657715]]", "geodesic_distance": 11.194713592529297, "gt_locations": "[[13.333499908447266, 0.24438095092773438, 5.276130199432373], [13.11699390411377, 0.24438095092773438, 5.401130199432373], [12.900487899780273, 0.24438095092773438, 5.526130199432373], [12.683981895446777, 0.24438095092773438, 5.651130199432373], [12.467475891113281, 0.24438095092773438, 5.776130199432373], [12.250969886779785, 0.24438095092773438, 5.901130199432373], [12.074193000793457, 0.24438095092773438, 6.077907085418701], [11.832711219787598, 0.24438095092773438, 6.01320219039917], [11.591229438781738, 0.24438095092773438, 5.948497295379639], [11.349747657775879, 0.24438095092773438, 5.883792400360107], [11.10826587677002, 0.24438095092773438, 5.819087505340576], [10.86678409576416, 0.24438095092773438, 5.754382610321045], [10.650278091430664, 0.24438095092773438, 5.629382610321045], [10.433772087097168, 0.24438095092773438, 5.504382610321045], [10.217266082763672, 0.24438095092773438, 5.379382610321045], [10.000760078430176, 0.24438095092773438, 5.254382610321045], [9.78425407409668, 0.24438095092773438, 5.129382610321045], [9.567748069763184, 0.24438095092773438, 5.004382610321045], [9.351242065429688, 0.24438095092773438, 4.879382610321045], [9.134736061096191, 0.24438095092773438, 4.754382610321045], [8.918230056762695, 0.24438095092773438, 4.629382610321045], [8.7017240524292, 0.24438095092773438, 4.504382610321045], [8.485218048095703, 0.24438095092773438, 4.379382610321045], [8.243736267089844, 0.24438095092773438, 4.314677715301514], [8.002254486083984, 0.24438095092773438, 4.249972820281982], [7.760773181915283, 0.24438095092773438, 4.185267925262451], [7.510773181915283, 0.24438095092773438, 4.185267925262451], [7.260773181915283, 0.24438095092773438, 4.185267925262451], [7.010773181915283, 0.24438095092773438, 4.185267925262451], [6.760773181915283, 0.24438095092773438, 4.185267925262451], [6.510773181915283, 0.24438095092773438, 4.185267925262451], [6.269291877746582, 0.24438095092773438, 4.12056303024292], [6.019291877746582, 0.24438095092773438, 4.12056303024292], [5.769291877746582, 0.24438095092773438, 4.12056303024292], [5.519291877746582, 0.24438095092773438, 4.12056303024292], [5.269291877746582, 0.24438095092773438, 4.12056303024292], [5.019291877746582, 0.24438095092773438, 4.12056303024292], [4.769291877746582, 0.24438095092773438, 4.12056303024292], [4.519291877746582, 0.24438095092773438, 4.12056303024292], [4.269291877746582, 0.24438095092773438, 4.12056303024292], [4.019291877746582, 0.24438095092773438, 4.12056303024292], [3.769291877746582, 0.24438095092773438, 4.12056303024292], [3.519291877746582, 0.24438095092773438, 4.12056303024292], [3.269291877746582, 0.24438095092773438, 4.12056303024292], [3.019291877746582, 0.24438095092773438, 4.12056303024292], [2.769291877746582, 0.24438095092773438, 4.12056303024292]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 6, "episode_id": "7", "scene_id": "r1Q1Z4BcV1o", "instruction": "Turn around and then proceed to your left.  Enter large room that looks like a lobby.  Head left towards stairway.  Then take another left into large dining hall. ", "start_position": [-9.448829650878906, 0.07537198066711426, -0.8151869773864746], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-7.377560138702393, 0.07537198066711426, -5.5316901206970215], "goal_radius": 3.0, "reference_path": "[[-9.448829650878906, 0.07537198066711426, -0.8151869773864746], [-8.850629806518555, 0.07537198066711426, 1.3819500207901], [-6.226459980010986, 0.07537198066711426, -2.3235599994659424], [-4.9805498123168945, 0.07537198066711426, -3.371649980545044], [-6.454279899597168, 0.07537198066711426, -5.435420036315918], [-7.377560138702393, 0.07537198066711426, -5.5316901206970215]]", "geodesic_distance": 9.458539009094238, "gt_locations": "[[-9.448829650878906, 0.07537198066711426, -0.8151869773864746], [-9.384124755859375, 0.07537198066711426, -0.5737054944038391], [-9.319419860839844, 0.07537198066711426, -0.3322240114212036], [-9.254714965820312, 0.07537198066711426, -0.09074252843856812], [-9.190010070800781, 0.07537198066711426, 0.15073895454406738], [-9.12530517578125, 0.07537198066711426, 0.3922204375267029], [-9.060600280761719, 0.07537198066711426, 0.6337019205093384], [-8.995895385742188, 0.07537198066711426, 0.8751834034919739], [-8.931190490722656, 0.07537198066711426, 1.1166648864746094], [-8.71468448638916, 0.07537198066711426, 0.9916648864746094], [-8.498178482055664, 0.07537198066711426, 0.8666648864746094], [-8.321401596069336, 0.07537198066711426, 0.6898881793022156], [-8.144624710083008, 0.07537198066711426, 0.5131114721298218], [-7.96784782409668, 0.07537198066711426, 0.336334764957428], [-7.791070938110352, 0.07537198066711426, 0.15955805778503418], [-7.666070938110352, 0.07537198066711426, -0.05694828927516937], [-7.489294052124023, 0.07537198066711426, -0.23372499644756317], [-7.364294052124023, 0.07537198066711426, -0.4502313435077667], [-7.239294052124023, 0.07537198066711426, -0.6667376756668091], [-7.114294052124023, 0.07537198066711426, -0.8832440376281738], [-6.989294052124023, 0.07537198066711426, -1.0997503995895386], [-6.864294052124023, 0.07537198066711426, -1.3162567615509033], [-6.739294052124023, 0.07537198066711426, -1.532763123512268], [-6.614294052124023, 0.07537198066711426, -1.7492694854736328], [-6.489294052124023, 0.07537198066711426, -1.9657758474349976], [-6.312517166137695, 0.07537198066711426, -2.142552614212036], [-6.135740280151367, 0.07537198066711426, -2.319329261779785], [-5.958963394165039, 0.07537198066711426, -2.496105909347534], [-5.782186508178711, 0.07537198066711426, -2.672882556915283], [-5.605409622192383, 0.07537198066711426, -2.8496592044830322], [-5.428632736206055, 0.07537198066711426, -3.0264358520507812], [-5.251855850219727, 0.07537198066711426, -3.2032124996185303], [-5.376855850219727, 0.07537198066711426, -3.4197187423706055], [-5.501855850219727, 0.07537198066711426, -3.6362249851226807], [-5.626855850219727, 0.07537198066711426, -3.852731227874756], [-5.751855850219727, 0.07537198066711426, -4.06923770904541], [-5.816560745239258, 0.07537198066711426, -4.310719013214111], [-5.941560745239258, 0.07537198066711426, -4.527225494384766], [-6.066560745239258, 0.07537198066711426, -4.74373197555542], [-6.191560745239258, 0.07537198066711426, -4.960238456726074], [-6.316560745239258, 0.07537198066711426, -5.1767449378967285], [-6.558042049407959, 0.07537198066711426, -5.24144983291626], [-6.79952335357666, 0.07537198066711426, -5.306154727935791], [-7.041004657745361, 0.07537198066711426, -5.370859622955322]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 0]"}
{"id": 7, "episode_id": "8", "scene_id": "r1Q1Z4BcV1o", "instruction": "Walk past the water fountain and turn left. Walk to the doorway directly across from the stairs.  Stop in the doorway. ", "start_position": [-9.448829650878906, 0.07537198066711426, -0.8151869773864746], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-7.377560138702393, 0.07537198066711426, -5.5316901206970215], "goal_radius": 3.0, "reference_path": "[[-9.448829650878906, 0.07537198066711426, -0.8151869773864746], [-8.850629806518555, 0.07537198066711426, 1.3819500207901], [-6.226459980010986, 0.07537198066711426, -2.3235599994659424], [-4.9805498123168945, 0.07537198066711426, -3.371649980545044], [-6.454279899597168, 0.07537198066711426, -5.435420036315918], [-7.377560138702393, 0.07537198066711426, -5.5316901206970215]]", "geodesic_distance": 9.458539009094238, "gt_locations": "[[-9.448829650878906, 0.07537198066711426, -0.8151869773864746], [-9.384124755859375, 0.07537198066711426, -0.5737054944038391], [-9.319419860839844, 0.07537198066711426, -0.3322240114212036], [-9.254714965820312, 0.07537198066711426, -0.09074252843856812], [-9.190010070800781, 0.07537198066711426, 0.15073895454406738], [-9.12530517578125, 0.07537198066711426, 0.3922204375267029], [-9.060600280761719, 0.07537198066711426, 0.6337019205093384], [-8.995895385742188, 0.07537198066711426, 0.8751834034919739], [-8.931190490722656, 0.07537198066711426, 1.1166648864746094], [-8.71468448638916, 0.07537198066711426, 0.9916648864746094], [-8.498178482055664, 0.07537198066711426, 0.8666648864746094], [-8.321401596069336, 0.07537198066711426, 0.6898881793022156], [-8.144624710083008, 0.07537198066711426, 0.5131114721298218], [-7.96784782409668, 0.07537198066711426, 0.336334764957428], [-7.791070938110352, 0.07537198066711426, 0.15955805778503418], [-7.666070938110352, 0.07537198066711426, -0.05694828927516937], [-7.489294052124023, 0.07537198066711426, -0.23372499644756317], [-7.364294052124023, 0.07537198066711426, -0.4502313435077667], [-7.239294052124023, 0.07537198066711426, -0.6667376756668091], [-7.114294052124023, 0.07537198066711426, -0.8832440376281738], [-6.989294052124023, 0.07537198066711426, -1.0997503995895386], [-6.864294052124023, 0.07537198066711426, -1.3162567615509033], [-6.739294052124023, 0.07537198066711426, -1.532763123512268], [-6.614294052124023, 0.07537198066711426, -1.7492694854736328], [-6.489294052124023, 0.07537198066711426, -1.9657758474349976], [-6.312517166137695, 0.07537198066711426, -2.142552614212036], [-6.135740280151367, 0.07537198066711426, -2.319329261779785], [-5.958963394165039, 0.07537198066711426, -2.496105909347534], [-5.782186508178711, 0.07537198066711426, -2.672882556915283], [-5.605409622192383, 0.07537198066711426, -2.8496592044830322], [-5.428632736206055, 0.07537198066711426, -3.0264358520507812], [-5.251855850219727, 0.07537198066711426, -3.2032124996185303], [-5.376855850219727, 0.07537198066711426, -3.4197187423706055], [-5.501855850219727, 0.07537198066711426, -3.6362249851226807], [-5.626855850219727, 0.07537198066711426, -3.852731227874756], [-5.751855850219727, 0.07537198066711426, -4.06923770904541], [-5.816560745239258, 0.07537198066711426, -4.310719013214111], [-5.941560745239258, 0.07537198066711426, -4.527225494384766], [-6.066560745239258, 0.07537198066711426, -4.74373197555542], [-6.191560745239258, 0.07537198066711426, -4.960238456726074], [-6.316560745239258, 0.07537198066711426, -5.1767449378967285], [-6.558042049407959, 0.07537198066711426, -5.24144983291626], [-6.79952335357666, 0.07537198066711426, -5.306154727935791], [-7.041004657745361, 0.07537198066711426, -5.370859622955322]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 0]"}
{"id": 8, "episode_id": "9", "scene_id": "r1Q1Z4BcV1o", "instruction": "Go towards the water fountain and turn left.  Walk into the big room and go to the left again and into a banquet hall.  Stand near the door and wait. ", "start_position": [-9.448829650878906, 0.07537198066711426, -0.8151869773864746], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-7.377560138702393, 0.07537198066711426, -5.5316901206970215], "goal_radius": 3.0, "reference_path": "[[-9.448829650878906, 0.07537198066711426, -0.8151869773864746], [-8.850629806518555, 0.07537198066711426, 1.3819500207901], [-6.226459980010986, 0.07537198066711426, -2.3235599994659424], [-4.9805498123168945, 0.07537198066711426, -3.371649980545044], [-6.454279899597168, 0.07537198066711426, -5.435420036315918], [-7.377560138702393, 0.07537198066711426, -5.5316901206970215]]", "geodesic_distance": 9.458539009094238, "gt_locations": "[[-9.448829650878906, 0.07537198066711426, -0.8151869773864746], [-9.384124755859375, 0.07537198066711426, -0.5737054944038391], [-9.319419860839844, 0.07537198066711426, -0.3322240114212036], [-9.254714965820312, 0.07537198066711426, -0.09074252843856812], [-9.190010070800781, 0.07537198066711426, 0.15073895454406738], [-9.12530517578125, 0.07537198066711426, 0.3922204375267029], [-9.060600280761719, 0.07537198066711426, 0.6337019205093384], [-8.995895385742188, 0.07537198066711426, 0.8751834034919739], [-8.931190490722656, 0.07537198066711426, 1.1166648864746094], [-8.71468448638916, 0.07537198066711426, 0.9916648864746094], [-8.498178482055664, 0.07537198066711426, 0.8666648864746094], [-8.321401596069336, 0.07537198066711426, 0.6898881793022156], [-8.144624710083008, 0.07537198066711426, 0.5131114721298218], [-7.96784782409668, 0.07537198066711426, 0.336334764957428], [-7.791070938110352, 0.07537198066711426, 0.15955805778503418], [-7.666070938110352, 0.07537198066711426, -0.05694828927516937], [-7.489294052124023, 0.07537198066711426, -0.23372499644756317], [-7.364294052124023, 0.07537198066711426, -0.4502313435077667], [-7.239294052124023, 0.07537198066711426, -0.6667376756668091], [-7.114294052124023, 0.07537198066711426, -0.8832440376281738], [-6.989294052124023, 0.07537198066711426, -1.0997503995895386], [-6.864294052124023, 0.07537198066711426, -1.3162567615509033], [-6.739294052124023, 0.07537198066711426, -1.532763123512268], [-6.614294052124023, 0.07537198066711426, -1.7492694854736328], [-6.489294052124023, 0.07537198066711426, -1.9657758474349976], [-6.312517166137695, 0.07537198066711426, -2.142552614212036], [-6.135740280151367, 0.07537198066711426, -2.319329261779785], [-5.958963394165039, 0.07537198066711426, -2.496105909347534], [-5.782186508178711, 0.07537198066711426, -2.672882556915283], [-5.605409622192383, 0.07537198066711426, -2.8496592044830322], [-5.428632736206055, 0.07537198066711426, -3.0264358520507812], [-5.251855850219727, 0.07537198066711426, -3.2032124996185303], [-5.376855850219727, 0.07537198066711426, -3.4197187423706055], [-5.501855850219727, 0.07537198066711426, -3.6362249851226807], [-5.626855850219727, 0.07537198066711426, -3.852731227874756], [-5.751855850219727, 0.07537198066711426, -4.06923770904541], [-5.816560745239258, 0.07537198066711426, -4.310719013214111], [-5.941560745239258, 0.07537198066711426, -4.527225494384766], [-6.066560745239258, 0.07537198066711426, -4.74373197555542], [-6.191560745239258, 0.07537198066711426, -4.960238456726074], [-6.316560745239258, 0.07537198066711426, -5.1767449378967285], [-6.558042049407959, 0.07537198066711426, -5.24144983291626], [-6.79952335357666, 0.07537198066711426, -5.306154727935791], [-7.041004657745361, 0.07537198066711426, -5.370859622955322]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 0]"}
{"id": 9, "episode_id": "10", "scene_id": "759xd9YjKW5", "instruction": "Walk passed the foot of the bed and around to the open door. Walk out of the bedroom and into the hallway. Walk down the hall and into the bedroom with the blue floral blanket. ", "start_position": [-7.182509899139404, 0.09666500240564346, 21.212299346923828], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-10.944000244140625, 0.09666500240564346, 17.360200881958008], "goal_radius": 3.0, "reference_path": "[[-7.182509899139404, 0.09666500240564346, 21.212299346923828], [-4.736199855804443, 0.09666500240564346, 20.040700912475586], [-7.792029857635498, 0.09666500240564346, 16.88960075378418], [-9.753649711608887, 0.09666500240564346, 16.281400680541992], [-10.944000244140625, 0.09666500240564346, 17.360200881958008]]", "geodesic_distance": 10.117118835449219, "gt_locations": "[[-7.182509899139404, 0.09666500240564346, 21.212299346923828], [-6.941028594970703, 0.09666500240564346, 21.147594451904297], [-6.699547290802002, 0.09666500240564346, 21.082889556884766], [-6.483040809631348, 0.09666500240564346, 20.957889556884766], [-6.266534328460693, 0.09666500240564346, 20.832889556884766], [-6.025053024291992, 0.09666500240564346, 20.768184661865234], [-5.808546543121338, 0.09666500240564346, 20.643184661865234], [-5.593636512756348, 0.09666500240564346, 20.504541397094727], [-5.377130031585693, 0.09666500240564346, 20.379541397094727], [-5.160623550415039, 0.09666500240564346, 20.254541397094727], [-5.160623550415039, 0.09666500240564346, 20.004541397094727], [-5.160623550415039, 0.09666500240564346, 19.754541397094727], [-5.160623550415039, 0.09666500240564346, 19.504541397094727], [-5.160623550415039, 0.09666500240564346, 19.254541397094727], [-5.152364730834961, 0.09666500240564346, 19.004541397094727], [-5.2085490226745605, 0.09666500240564346, 18.741283416748047], [-5.385325908660889, 0.09666500240564346, 18.56450653076172], [-5.562102794647217, 0.09666500240564346, 18.38772964477539], [-5.778609275817871, 0.09666500240564346, 18.26272964477539], [-5.995115756988525, 0.09666500240564346, 18.13772964477539], [-6.21162223815918, 0.09666500240564346, 18.01272964477539], [-6.388399124145508, 0.09666500240564346, 17.835952758789062], [-6.565176010131836, 0.09666500240564346, 17.659175872802734], [-6.78168249130249, 0.09666500240564346, 17.534175872802734], [-6.9981889724731445, 0.09666500240564346, 17.409175872802734], [-7.174965858459473, 0.09666500240564346, 17.232398986816406], [-7.391472339630127, 0.09666500240564346, 17.107398986816406], [-7.632953643798828, 0.09666500240564346, 17.042694091796875], [-7.874434947967529, 0.09666500240564346, 16.977989196777344], [-8.090941429138184, 0.09666500240564346, 16.852989196777344], [-8.332423210144043, 0.09666500240564346, 16.788284301757812], [-8.573904991149902, 0.09666500240564346, 16.72357940673828], [-8.815386772155762, 0.09666500240564346, 16.65887451171875], [-9.056868553161621, 0.09666500240564346, 16.59416961669922], [-9.29835033416748, 0.09666500240564346, 16.529464721679688], [-9.514856338500977, 0.09666500240564346, 16.404464721679688], [-9.731362342834473, 0.09666500240564346, 16.529464721679688], [-9.947868347167969, 0.09666500240564346, 16.654464721679688], [-10.164374351501465, 0.09666500240564346, 16.779464721679688], [-10.380880355834961, 0.09666500240564346, 16.904464721679688], [-10.597386360168457, 0.09666500240564346, 17.029464721679688]]", "gt_actions": "[2, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 10, "episode_id": "11", "scene_id": "759xd9YjKW5", "instruction": "Walk around the bed and exit the room going straight to the end of the hallway. Turn left and enter the bedroom. Wait in the doorway. ", "start_position": [-7.182509899139404, 0.09666500240564346, 21.212299346923828], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-10.944000244140625, 0.09666500240564346, 17.360200881958008], "goal_radius": 3.0, "reference_path": "[[-7.182509899139404, 0.09666500240564346, 21.212299346923828], [-4.736199855804443, 0.09666500240564346, 20.040700912475586], [-7.792029857635498, 0.09666500240564346, 16.88960075378418], [-9.753649711608887, 0.09666500240564346, 16.281400680541992], [-10.944000244140625, 0.09666500240564346, 17.360200881958008]]", "geodesic_distance": 10.117118835449219, "gt_locations": "[[-7.182509899139404, 0.09666500240564346, 21.212299346923828], [-6.941028594970703, 0.09666500240564346, 21.147594451904297], [-6.699547290802002, 0.09666500240564346, 21.082889556884766], [-6.483040809631348, 0.09666500240564346, 20.957889556884766], [-6.266534328460693, 0.09666500240564346, 20.832889556884766], [-6.025053024291992, 0.09666500240564346, 20.768184661865234], [-5.808546543121338, 0.09666500240564346, 20.643184661865234], [-5.593636512756348, 0.09666500240564346, 20.504541397094727], [-5.377130031585693, 0.09666500240564346, 20.379541397094727], [-5.160623550415039, 0.09666500240564346, 20.254541397094727], [-5.160623550415039, 0.09666500240564346, 20.004541397094727], [-5.160623550415039, 0.09666500240564346, 19.754541397094727], [-5.160623550415039, 0.09666500240564346, 19.504541397094727], [-5.160623550415039, 0.09666500240564346, 19.254541397094727], [-5.152364730834961, 0.09666500240564346, 19.004541397094727], [-5.2085490226745605, 0.09666500240564346, 18.741283416748047], [-5.385325908660889, 0.09666500240564346, 18.56450653076172], [-5.562102794647217, 0.09666500240564346, 18.38772964477539], [-5.778609275817871, 0.09666500240564346, 18.26272964477539], [-5.995115756988525, 0.09666500240564346, 18.13772964477539], [-6.21162223815918, 0.09666500240564346, 18.01272964477539], [-6.388399124145508, 0.09666500240564346, 17.835952758789062], [-6.565176010131836, 0.09666500240564346, 17.659175872802734], [-6.78168249130249, 0.09666500240564346, 17.534175872802734], [-6.9981889724731445, 0.09666500240564346, 17.409175872802734], [-7.174965858459473, 0.09666500240564346, 17.232398986816406], [-7.391472339630127, 0.09666500240564346, 17.107398986816406], [-7.632953643798828, 0.09666500240564346, 17.042694091796875], [-7.874434947967529, 0.09666500240564346, 16.977989196777344], [-8.090941429138184, 0.09666500240564346, 16.852989196777344], [-8.332423210144043, 0.09666500240564346, 16.788284301757812], [-8.573904991149902, 0.09666500240564346, 16.72357940673828], [-8.815386772155762, 0.09666500240564346, 16.65887451171875], [-9.056868553161621, 0.09666500240564346, 16.59416961669922], [-9.29835033416748, 0.09666500240564346, 16.529464721679688], [-9.514856338500977, 0.09666500240564346, 16.404464721679688], [-9.731362342834473, 0.09666500240564346, 16.529464721679688], [-9.947868347167969, 0.09666500240564346, 16.654464721679688], [-10.164374351501465, 0.09666500240564346, 16.779464721679688], [-10.380880355834961, 0.09666500240564346, 16.904464721679688], [-10.597386360168457, 0.09666500240564346, 17.029464721679688]]", "gt_actions": "[2, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 11, "episode_id": "12", "scene_id": "759xd9YjKW5", "instruction": "move forward in front of the television. turn left and exit the room.  go down hallway and step into the bedroom on the left. ", "start_position": [-7.182509899139404, 0.09666500240564346, 21.212299346923828], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-10.944000244140625, 0.09666500240564346, 17.360200881958008], "goal_radius": 3.0, "reference_path": "[[-7.182509899139404, 0.09666500240564346, 21.212299346923828], [-4.736199855804443, 0.09666500240564346, 20.040700912475586], [-7.792029857635498, 0.09666500240564346, 16.88960075378418], [-9.753649711608887, 0.09666500240564346, 16.281400680541992], [-10.944000244140625, 0.09666500240564346, 17.360200881958008]]", "geodesic_distance": 10.117118835449219, "gt_locations": "[[-7.182509899139404, 0.09666500240564346, 21.212299346923828], [-6.941028594970703, 0.09666500240564346, 21.147594451904297], [-6.699547290802002, 0.09666500240564346, 21.082889556884766], [-6.483040809631348, 0.09666500240564346, 20.957889556884766], [-6.266534328460693, 0.09666500240564346, 20.832889556884766], [-6.025053024291992, 0.09666500240564346, 20.768184661865234], [-5.808546543121338, 0.09666500240564346, 20.643184661865234], [-5.593636512756348, 0.09666500240564346, 20.504541397094727], [-5.377130031585693, 0.09666500240564346, 20.379541397094727], [-5.160623550415039, 0.09666500240564346, 20.254541397094727], [-5.160623550415039, 0.09666500240564346, 20.004541397094727], [-5.160623550415039, 0.09666500240564346, 19.754541397094727], [-5.160623550415039, 0.09666500240564346, 19.504541397094727], [-5.160623550415039, 0.09666500240564346, 19.254541397094727], [-5.152364730834961, 0.09666500240564346, 19.004541397094727], [-5.2085490226745605, 0.09666500240564346, 18.741283416748047], [-5.385325908660889, 0.09666500240564346, 18.56450653076172], [-5.562102794647217, 0.09666500240564346, 18.38772964477539], [-5.778609275817871, 0.09666500240564346, 18.26272964477539], [-5.995115756988525, 0.09666500240564346, 18.13772964477539], [-6.21162223815918, 0.09666500240564346, 18.01272964477539], [-6.388399124145508, 0.09666500240564346, 17.835952758789062], [-6.565176010131836, 0.09666500240564346, 17.659175872802734], [-6.78168249130249, 0.09666500240564346, 17.534175872802734], [-6.9981889724731445, 0.09666500240564346, 17.409175872802734], [-7.174965858459473, 0.09666500240564346, 17.232398986816406], [-7.391472339630127, 0.09666500240564346, 17.107398986816406], [-7.632953643798828, 0.09666500240564346, 17.042694091796875], [-7.874434947967529, 0.09666500240564346, 16.977989196777344], [-8.090941429138184, 0.09666500240564346, 16.852989196777344], [-8.332423210144043, 0.09666500240564346, 16.788284301757812], [-8.573904991149902, 0.09666500240564346, 16.72357940673828], [-8.815386772155762, 0.09666500240564346, 16.65887451171875], [-9.056868553161621, 0.09666500240564346, 16.59416961669922], [-9.29835033416748, 0.09666500240564346, 16.529464721679688], [-9.514856338500977, 0.09666500240564346, 16.404464721679688], [-9.731362342834473, 0.09666500240564346, 16.529464721679688], [-9.947868347167969, 0.09666500240564346, 16.654464721679688], [-10.164374351501465, 0.09666500240564346, 16.779464721679688], [-10.380880355834961, 0.09666500240564346, 16.904464721679688], [-10.597386360168457, 0.09666500240564346, 17.029464721679688]]", "gt_actions": "[2, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 12, "episode_id": "13", "scene_id": "sT4fr6TAbpF", "instruction": "Walk through the open doors and into the bedroom. Walk through the door on the other side of the bedroom passed the bed and lamp. Walk through the hallway and turn the corner. Walk to the entrance of the home and stop in the doorway. ", "start_position": [-0.9836609959602356, 0.05631500482559204, 3.532670021057129], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.400899887084961, 0.05631500482559204, -4.1157097816467285], "goal_radius": 3.0, "reference_path": "[[-0.9836609959602356, 0.05631500482559204, 3.532670021057129], [0.04104569926857948, 0.05631500482559204, 0.1321440041065216], [0.055189099162817, 0.05631500482559204, -1.7353099584579468], [0.35368698835372925, 0.05631500482559204, -2.9571900367736816], [1.5798749923706055, 0.05631500482559204, -5.153940200805664], [3.400899887084961, 0.05631500482559204, -4.1157097816467285]]", "geodesic_distance": 10.973567008972168, "gt_locations": "[[-0.9836609959602356, 0.05631500482559204, 3.532670021057129], [-0.8586609959602356, 0.05631500482559204, 3.3161637783050537], [-0.7336609959602356, 0.05631500482559204, 3.0996575355529785], [-0.6086609959602356, 0.05631500482559204, 2.8831512928009033], [-0.4836609959602356, 0.05631500482559204, 2.666645050048828], [-0.3586609959602356, 0.05631500482559204, 2.450138807296753], [-0.181884303689003, 0.05631500482559204, 2.273362159729004], [-0.0568842887878418, 0.05631500482559204, 2.0568559169769287], [-0.0568842813372612, 0.05631500482559204, 1.8068559169769287], [-0.0568842738866806, 0.05631500482559204, 1.5568559169769287], [-0.056884266436100006, 0.05631500482559204, 1.3068559169769287], [-0.05688425898551941, 0.05631500482559204, 1.0568559169769287], [-0.05688425153493881, 0.05631500482559204, 0.8068559169769287], [-0.056884244084358215, 0.05631500482559204, 0.5568559169769287], [-0.05688423663377762, 0.05631500482559204, 0.3068559169769287], [-0.05688422918319702, 0.05631500482559204, 0.05685591697692871], [-0.056884221732616425, 0.05631500482559204, -0.1931440830230713], [-0.05688421428203583, 0.05631500482559204, -0.4431440830230713], [-0.05688420683145523, 0.05631500482559204, -0.6931440830230713], [-0.056884199380874634, 0.05631500482559204, -0.9431440830230713], [-0.05688419193029404, 0.05631500482559204, -1.1931440830230713], [0.007820583879947662, 0.05631500482559204, -1.434625506401062], [0.07252535969018936, 0.05631500482559204, -1.6761069297790527], [0.13723012804985046, 0.05631500482559204, -1.9175883531570435], [0.20193490386009216, 0.05631500482559204, -2.159069776535034], [0.26663967967033386, 0.05631500482559204, -2.4005513191223145], [0.33134445548057556, 0.05631500482559204, -2.6420328617095947], [0.39604923129081726, 0.05631500482559204, -2.883514404296875], [0.39604923129081726, 0.05631500482559204, -3.133514404296875], [0.46075400710105896, 0.05631500482559204, -3.3749959468841553], [0.525458812713623, 0.05631500482559204, -3.6164774894714355], [0.5901635885238647, 0.05631500482559204, -3.857959032058716], [0.7151635885238647, 0.05631500482559204, -4.074465274810791], [0.8401635885238647, 0.05631500482559204, -4.290971755981445], [1.0169403553009033, 0.05631500482559204, -4.467748641967773], [1.1937170028686523, 0.05631500482559204, -4.644525527954102], [1.3704936504364014, 0.05631500482559204, -4.82130241394043], [1.6119751930236816, 0.05631500482559204, -4.756597518920898], [1.853456735610962, 0.05631500482559204, -4.691892623901367], [2.094938278198242, 0.05631500482559204, -4.627187728881836], [2.344938278198242, 0.05631500482559204, -4.627187728881836], [2.5614447593688965, 0.05631500482559204, -4.502187728881836], [2.777951240539551, 0.05631500482559204, -4.377187728881836], [2.994457721710205, 0.05631500482559204, -4.252187728881836]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 0]"}
{"id": 13, "episode_id": "14", "scene_id": "sT4fr6TAbpF", "instruction": "Walk through the bedroom.  Take a right turn and stop at the glass doors before the outside exit. ", "start_position": [-0.9836609959602356, 0.05631500482559204, 3.532670021057129], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.400899887084961, 0.05631500482559204, -4.1157097816467285], "goal_radius": 3.0, "reference_path": "[[-0.9836609959602356, 0.05631500482559204, 3.532670021057129], [0.04104569926857948, 0.05631500482559204, 0.1321440041065216], [0.055189099162817, 0.05631500482559204, -1.7353099584579468], [0.35368698835372925, 0.05631500482559204, -2.9571900367736816], [1.5798749923706055, 0.05631500482559204, -5.153940200805664], [3.400899887084961, 0.05631500482559204, -4.1157097816467285]]", "geodesic_distance": 10.973567008972168, "gt_locations": "[[-0.9836609959602356, 0.05631500482559204, 3.532670021057129], [-0.8586609959602356, 0.05631500482559204, 3.3161637783050537], [-0.7336609959602356, 0.05631500482559204, 3.0996575355529785], [-0.6086609959602356, 0.05631500482559204, 2.8831512928009033], [-0.4836609959602356, 0.05631500482559204, 2.666645050048828], [-0.3586609959602356, 0.05631500482559204, 2.450138807296753], [-0.181884303689003, 0.05631500482559204, 2.273362159729004], [-0.0568842887878418, 0.05631500482559204, 2.0568559169769287], [-0.0568842813372612, 0.05631500482559204, 1.8068559169769287], [-0.0568842738866806, 0.05631500482559204, 1.5568559169769287], [-0.056884266436100006, 0.05631500482559204, 1.3068559169769287], [-0.05688425898551941, 0.05631500482559204, 1.0568559169769287], [-0.05688425153493881, 0.05631500482559204, 0.8068559169769287], [-0.056884244084358215, 0.05631500482559204, 0.5568559169769287], [-0.05688423663377762, 0.05631500482559204, 0.3068559169769287], [-0.05688422918319702, 0.05631500482559204, 0.05685591697692871], [-0.056884221732616425, 0.05631500482559204, -0.1931440830230713], [-0.05688421428203583, 0.05631500482559204, -0.4431440830230713], [-0.05688420683145523, 0.05631500482559204, -0.6931440830230713], [-0.056884199380874634, 0.05631500482559204, -0.9431440830230713], [-0.05688419193029404, 0.05631500482559204, -1.1931440830230713], [0.007820583879947662, 0.05631500482559204, -1.434625506401062], [0.07252535969018936, 0.05631500482559204, -1.6761069297790527], [0.13723012804985046, 0.05631500482559204, -1.9175883531570435], [0.20193490386009216, 0.05631500482559204, -2.159069776535034], [0.26663967967033386, 0.05631500482559204, -2.4005513191223145], [0.33134445548057556, 0.05631500482559204, -2.6420328617095947], [0.39604923129081726, 0.05631500482559204, -2.883514404296875], [0.39604923129081726, 0.05631500482559204, -3.133514404296875], [0.46075400710105896, 0.05631500482559204, -3.3749959468841553], [0.525458812713623, 0.05631500482559204, -3.6164774894714355], [0.5901635885238647, 0.05631500482559204, -3.857959032058716], [0.7151635885238647, 0.05631500482559204, -4.074465274810791], [0.8401635885238647, 0.05631500482559204, -4.290971755981445], [1.0169403553009033, 0.05631500482559204, -4.467748641967773], [1.1937170028686523, 0.05631500482559204, -4.644525527954102], [1.3704936504364014, 0.05631500482559204, -4.82130241394043], [1.6119751930236816, 0.05631500482559204, -4.756597518920898], [1.853456735610962, 0.05631500482559204, -4.691892623901367], [2.094938278198242, 0.05631500482559204, -4.627187728881836], [2.344938278198242, 0.05631500482559204, -4.627187728881836], [2.5614447593688965, 0.05631500482559204, -4.502187728881836], [2.777951240539551, 0.05631500482559204, -4.377187728881836], [2.994457721710205, 0.05631500482559204, -4.252187728881836]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 0]"}
{"id": 14, "episode_id": "15", "scene_id": "sT4fr6TAbpF", "instruction": "Exit the bathroom. Walk straight through the bedroom toward the doorway. Exit the bedroom. Turn right into the first door on your right, then turn right again and stop. ", "start_position": [-0.9836609959602356, 0.05631500482559204, 3.532670021057129], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.400899887084961, 0.05631500482559204, -4.1157097816467285], "goal_radius": 3.0, "reference_path": "[[-0.9836609959602356, 0.05631500482559204, 3.532670021057129], [0.04104569926857948, 0.05631500482559204, 0.1321440041065216], [0.055189099162817, 0.05631500482559204, -1.7353099584579468], [0.35368698835372925, 0.05631500482559204, -2.9571900367736816], [1.5798749923706055, 0.05631500482559204, -5.153940200805664], [3.400899887084961, 0.05631500482559204, -4.1157097816467285]]", "geodesic_distance": 10.973567008972168, "gt_locations": "[[-0.9836609959602356, 0.05631500482559204, 3.532670021057129], [-0.8586609959602356, 0.05631500482559204, 3.3161637783050537], [-0.7336609959602356, 0.05631500482559204, 3.0996575355529785], [-0.6086609959602356, 0.05631500482559204, 2.8831512928009033], [-0.4836609959602356, 0.05631500482559204, 2.666645050048828], [-0.3586609959602356, 0.05631500482559204, 2.450138807296753], [-0.181884303689003, 0.05631500482559204, 2.273362159729004], [-0.0568842887878418, 0.05631500482559204, 2.0568559169769287], [-0.0568842813372612, 0.05631500482559204, 1.8068559169769287], [-0.0568842738866806, 0.05631500482559204, 1.5568559169769287], [-0.056884266436100006, 0.05631500482559204, 1.3068559169769287], [-0.05688425898551941, 0.05631500482559204, 1.0568559169769287], [-0.05688425153493881, 0.05631500482559204, 0.8068559169769287], [-0.056884244084358215, 0.05631500482559204, 0.5568559169769287], [-0.05688423663377762, 0.05631500482559204, 0.3068559169769287], [-0.05688422918319702, 0.05631500482559204, 0.05685591697692871], [-0.056884221732616425, 0.05631500482559204, -0.1931440830230713], [-0.05688421428203583, 0.05631500482559204, -0.4431440830230713], [-0.05688420683145523, 0.05631500482559204, -0.6931440830230713], [-0.056884199380874634, 0.05631500482559204, -0.9431440830230713], [-0.05688419193029404, 0.05631500482559204, -1.1931440830230713], [0.007820583879947662, 0.05631500482559204, -1.434625506401062], [0.07252535969018936, 0.05631500482559204, -1.6761069297790527], [0.13723012804985046, 0.05631500482559204, -1.9175883531570435], [0.20193490386009216, 0.05631500482559204, -2.159069776535034], [0.26663967967033386, 0.05631500482559204, -2.4005513191223145], [0.33134445548057556, 0.05631500482559204, -2.6420328617095947], [0.39604923129081726, 0.05631500482559204, -2.883514404296875], [0.39604923129081726, 0.05631500482559204, -3.133514404296875], [0.46075400710105896, 0.05631500482559204, -3.3749959468841553], [0.525458812713623, 0.05631500482559204, -3.6164774894714355], [0.5901635885238647, 0.05631500482559204, -3.857959032058716], [0.7151635885238647, 0.05631500482559204, -4.074465274810791], [0.8401635885238647, 0.05631500482559204, -4.290971755981445], [1.0169403553009033, 0.05631500482559204, -4.467748641967773], [1.1937170028686523, 0.05631500482559204, -4.644525527954102], [1.3704936504364014, 0.05631500482559204, -4.82130241394043], [1.6119751930236816, 0.05631500482559204, -4.756597518920898], [1.853456735610962, 0.05631500482559204, -4.691892623901367], [2.094938278198242, 0.05631500482559204, -4.627187728881836], [2.344938278198242, 0.05631500482559204, -4.627187728881836], [2.5614447593688965, 0.05631500482559204, -4.502187728881836], [2.777951240539551, 0.05631500482559204, -4.377187728881836], [2.994457721710205, 0.05631500482559204, -4.252187728881836]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 0]"}
{"id": 15, "episode_id": "16", "scene_id": "JeFG25nYj2p", "instruction": "Walk over the star tile into the bedroom and walk towards the bed. Walk around the bed, and stop next to the left set of windows. ", "start_position": [-2.485460042953491, 0.09358400106430054, 4.0524702072143555], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-5.596909999847412, 0.09358400106430054, 9.40015983581543], "goal_radius": 3.0, "reference_path": "[[-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [-4.139379978179932, 0.09358400106430054, 4.601039886474609], [-4.846459865570068, 0.09358400106430054, 5.104690074920654], [-5.41087007522583, 0.09358400106430054, 5.856150150299072], [-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-6.9734601974487305, 0.09358400106430054, 6.159019947052002], [-5.596909999847412, 0.09358400106430054, 9.40015983581543]]", "geodesic_distance": 7.673840522766113, "gt_locations": "[[-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [-2.7269415855407715, 0.09358400106430054, 4.117175102233887], [-2.9684231281280518, 0.09358400106430054, 4.181879997253418], [-3.209904670715332, 0.09358400106430054, 4.246584892272949], [-3.4513862133026123, 0.09358400106430054, 4.3112897872924805], [-3.6928677558898926, 0.09358400106430054, 4.375994682312012], [-3.9093739986419678, 0.09358400106430054, 4.500994682312012], [-4.125880241394043, 0.09358400106430054, 4.625994682312012], [-4.302657127380371, 0.09358400106430054, 4.80277156829834], [-4.519163608551025, 0.09358400106430054, 4.92777156829834], [-4.6959404945373535, 0.09358400106430054, 5.104548454284668], [-4.8650054931640625, 0.09358400106430054, 5.321054935455322], [-5.041782379150391, 0.09358400106430054, 5.49783182144165], [-5.218559265136719, 0.09358400106430054, 5.6746087074279785], [-5.435065746307373, 0.09358400106430054, 5.7996087074279785], [-5.651572227478027, 0.09358400106430054, 5.9246087074279785], [-5.8283491134643555, 0.09358400106430054, 6.101385593414307], [-6.04485559463501, 0.09358400106430054, 6.226385593414307], [-6.261362075805664, 0.09358400106430054, 6.351385593414307], [-6.460684776306152, 0.09358400106430054, 6.510753154754639], [-6.7021660804748535, 0.09358400106430054, 6.446048259735107], [-6.7021660804748535, 0.09358400106430054, 6.696048259735107], [-6.637461185455322, 0.09358400106430054, 6.937529563903809], [-6.637461185455322, 0.09358400106430054, 7.187529563903809], [-6.637461185455322, 0.09358400106430054, 7.437529563903809], [-6.572756290435791, 0.09358400106430054, 7.67901086807251], [-6.50805139541626, 0.09358400106430054, 7.920492172241211], [-6.4433465003967285, 0.09358400106430054, 8.16197395324707], [-6.3183465003967285, 0.09358400106430054, 8.378479957580566], [-6.1933465003967285, 0.09358400106430054, 8.594985961914062], [-6.0683465003967285, 0.09358400106430054, 8.811491966247559], [-5.9433465003967285, 0.09358400106430054, 9.027997970581055], [-5.7665696144104, 0.09358400106430054, 9.204774856567383]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 1, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 16, "episode_id": "17", "scene_id": "JeFG25nYj2p", "instruction": "Walk int past the sink area. Walk of the door and past the statue of a hand. Walk down the hall and past the statue of a bird. Walk into the bedroom area with the wooden cabinet. ", "start_position": [-2.485460042953491, 0.09358400106430054, 4.0524702072143555], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-5.596909999847412, 0.09358400106430054, 9.40015983581543], "goal_radius": 3.0, "reference_path": "[[-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [-4.139379978179932, 0.09358400106430054, 4.601039886474609], [-4.846459865570068, 0.09358400106430054, 5.104690074920654], [-5.41087007522583, 0.09358400106430054, 5.856150150299072], [-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-6.9734601974487305, 0.09358400106430054, 6.159019947052002], [-5.596909999847412, 0.09358400106430054, 9.40015983581543]]", "geodesic_distance": 7.673840522766113, "gt_locations": "[[-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [-2.7269415855407715, 0.09358400106430054, 4.117175102233887], [-2.9684231281280518, 0.09358400106430054, 4.181879997253418], [-3.209904670715332, 0.09358400106430054, 4.246584892272949], [-3.4513862133026123, 0.09358400106430054, 4.3112897872924805], [-3.6928677558898926, 0.09358400106430054, 4.375994682312012], [-3.9093739986419678, 0.09358400106430054, 4.500994682312012], [-4.125880241394043, 0.09358400106430054, 4.625994682312012], [-4.302657127380371, 0.09358400106430054, 4.80277156829834], [-4.519163608551025, 0.09358400106430054, 4.92777156829834], [-4.6959404945373535, 0.09358400106430054, 5.104548454284668], [-4.8650054931640625, 0.09358400106430054, 5.321054935455322], [-5.041782379150391, 0.09358400106430054, 5.49783182144165], [-5.218559265136719, 0.09358400106430054, 5.6746087074279785], [-5.435065746307373, 0.09358400106430054, 5.7996087074279785], [-5.651572227478027, 0.09358400106430054, 5.9246087074279785], [-5.8283491134643555, 0.09358400106430054, 6.101385593414307], [-6.04485559463501, 0.09358400106430054, 6.226385593414307], [-6.261362075805664, 0.09358400106430054, 6.351385593414307], [-6.460684776306152, 0.09358400106430054, 6.510753154754639], [-6.7021660804748535, 0.09358400106430054, 6.446048259735107], [-6.7021660804748535, 0.09358400106430054, 6.696048259735107], [-6.637461185455322, 0.09358400106430054, 6.937529563903809], [-6.637461185455322, 0.09358400106430054, 7.187529563903809], [-6.637461185455322, 0.09358400106430054, 7.437529563903809], [-6.572756290435791, 0.09358400106430054, 7.67901086807251], [-6.50805139541626, 0.09358400106430054, 7.920492172241211], [-6.4433465003967285, 0.09358400106430054, 8.16197395324707], [-6.3183465003967285, 0.09358400106430054, 8.378479957580566], [-6.1933465003967285, 0.09358400106430054, 8.594985961914062], [-6.0683465003967285, 0.09358400106430054, 8.811491966247559], [-5.9433465003967285, 0.09358400106430054, 9.027997970581055], [-5.7665696144104, 0.09358400106430054, 9.204774856567383]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 1, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 17, "episode_id": "18", "scene_id": "JeFG25nYj2p", "instruction": "Go through the doorway to the room with the sink and follow the hallway until you get to a bedroom. Wait at the bedroom door. ", "start_position": [-2.485460042953491, 0.09358400106430054, 4.0524702072143555], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-5.596909999847412, 0.09358400106430054, 9.40015983581543], "goal_radius": 3.0, "reference_path": "[[-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [-4.139379978179932, 0.09358400106430054, 4.601039886474609], [-4.846459865570068, 0.09358400106430054, 5.104690074920654], [-5.41087007522583, 0.09358400106430054, 5.856150150299072], [-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-6.9734601974487305, 0.09358400106430054, 6.159019947052002], [-5.596909999847412, 0.09358400106430054, 9.40015983581543]]", "geodesic_distance": 7.673840522766113, "gt_locations": "[[-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [-2.7269415855407715, 0.09358400106430054, 4.117175102233887], [-2.9684231281280518, 0.09358400106430054, 4.181879997253418], [-3.209904670715332, 0.09358400106430054, 4.246584892272949], [-3.4513862133026123, 0.09358400106430054, 4.3112897872924805], [-3.6928677558898926, 0.09358400106430054, 4.375994682312012], [-3.9093739986419678, 0.09358400106430054, 4.500994682312012], [-4.125880241394043, 0.09358400106430054, 4.625994682312012], [-4.302657127380371, 0.09358400106430054, 4.80277156829834], [-4.519163608551025, 0.09358400106430054, 4.92777156829834], [-4.6959404945373535, 0.09358400106430054, 5.104548454284668], [-4.8650054931640625, 0.09358400106430054, 5.321054935455322], [-5.041782379150391, 0.09358400106430054, 5.49783182144165], [-5.218559265136719, 0.09358400106430054, 5.6746087074279785], [-5.435065746307373, 0.09358400106430054, 5.7996087074279785], [-5.651572227478027, 0.09358400106430054, 5.9246087074279785], [-5.8283491134643555, 0.09358400106430054, 6.101385593414307], [-6.04485559463501, 0.09358400106430054, 6.226385593414307], [-6.261362075805664, 0.09358400106430054, 6.351385593414307], [-6.460684776306152, 0.09358400106430054, 6.510753154754639], [-6.7021660804748535, 0.09358400106430054, 6.446048259735107], [-6.7021660804748535, 0.09358400106430054, 6.696048259735107], [-6.637461185455322, 0.09358400106430054, 6.937529563903809], [-6.637461185455322, 0.09358400106430054, 7.187529563903809], [-6.637461185455322, 0.09358400106430054, 7.437529563903809], [-6.572756290435791, 0.09358400106430054, 7.67901086807251], [-6.50805139541626, 0.09358400106430054, 7.920492172241211], [-6.4433465003967285, 0.09358400106430054, 8.16197395324707], [-6.3183465003967285, 0.09358400106430054, 8.378479957580566], [-6.1933465003967285, 0.09358400106430054, 8.594985961914062], [-6.0683465003967285, 0.09358400106430054, 8.811491966247559], [-5.9433465003967285, 0.09358400106430054, 9.027997970581055], [-5.7665696144104, 0.09358400106430054, 9.204774856567383]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 1, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 18, "episode_id": "19", "scene_id": "kEZ7cmS4wCh", "instruction": "Move forward past the white coach and then turn left. Continue up the stairs and stop. ", "start_position": [5.549860000610352, -0.3136729598045349, 3.7293899059295654], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.181410074234009, -0.038058795034885406, 0.3217200040817261], "goal_radius": 3.0, "reference_path": "[[5.549860000610352, -0.3136729598045349, 3.7293899059295654], [4.3668999671936035, -0.3136729598045349, 0.6786140203475952], [1.6137399673461914, -0.3136729598045349, -0.14678500592708588], [-0.12228299677371979, -0.3136729598045349, 0.04611460119485855], [-2.181410074234009, -0.038058795034885406, 0.3217200040817261]]", "geodesic_distance": 9.974464416503906, "gt_locations": "[[5.549860000610352, -0.3136729598045349, 3.7293899059295654], [5.48515510559082, -0.3136729598045349, 3.487908363342285], [5.420450210571289, -0.3136729598045349, 3.246426820755005], [5.355745315551758, -0.3136729598045349, 3.0049452781677246], [5.291040420532227, -0.3136729598045349, 2.7634637355804443], [5.226335525512695, -0.3136729598045349, 2.521982192993164], [5.101335525512695, -0.3136729598045349, 2.305475950241089], [4.976335525512695, -0.3136729598045349, 2.0889697074890137], [4.851335525512695, -0.3136729598045349, 1.872463345527649], [4.726335525512695, -0.3136729598045349, 1.6559569835662842], [4.661630630493164, -0.3136729598045349, 1.4144755601882935], [4.596925735473633, -0.3136729598045349, 1.1729941368103027], [4.471925735473633, -0.3136729598045349, 0.956487774848938], [4.295148849487305, -0.3136729598045349, 0.7797110676765442], [4.130892276763916, -0.3136729598045349, 0.5904140472412109], [3.954115629196167, -0.3136729598045349, 0.41363734006881714], [3.777338981628418, -0.3136729598045349, 0.23686063289642334], [3.5608325004577637, -0.3136729598045349, 0.11186063289642334], [3.3193509578704834, -0.3136729598045349, 0.047155871987342834], [3.077869415283203, -0.3136729598045349, -0.01754888892173767], [2.827869415283203, -0.3136729598045349, -0.017548903822898865], [2.577869415283203, -0.3136729598045349, -0.01754891872406006], [2.327869415283203, -0.3136729598045349, -0.017548933625221252], [2.086387872695923, -0.3136729598045349, -0.08225369453430176], [1.8363878726959229, -0.3136729598045349, -0.08225366473197937], [1.5863878726959229, -0.3136729598045349, -0.08225363492965698], [1.3363878726959229, -0.3136729598045349, -0.0822536051273346], [1.0863878726959229, -0.3136729598045349, -0.08225357532501221], [0.8363878726959229, -0.3136729598045349, -0.08225354552268982], [0.5863878726959229, -0.3136729598045349, -0.08225351572036743], [0.34490638971328735, -0.3136729598045349, -0.017548710107803345], [0.10342489182949066, -0.3136729598045349, 0.04715609550476074], [-0.13805660605430603, -0.3136729598045349, 0.11186090111732483], [-0.3795381188392639, -0.3136729598045349, 0.17656570672988892], [-0.6295381188392639, -0.30531173944473267, 0.17656569182872772], [-0.8795381188392639, -0.2857586443424225, 0.17656567692756653], [-1.1295380592346191, -0.2662055492401123, 0.17656566202640533], [-1.3795380592346191, -0.10422666370868683, 0.17656564712524414], [-1.6210194826126099, -0.0838140994310379, 0.24127039313316345], [-1.8625009059906006, -0.06340153515338898, 0.30597513914108276]]", "gt_actions": "[2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 19, "episode_id": "20", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk straight into the living room passing the chair and the couch and taking a left behind the couch and past the dining room table and up the stairs into the entry way stopping on the third tile from the left at the top step. ", "start_position": [5.549860000610352, -0.3136729598045349, 3.7293899059295654], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.181410074234009, -0.038058795034885406, 0.3217200040817261], "goal_radius": 3.0, "reference_path": "[[5.549860000610352, -0.3136729598045349, 3.7293899059295654], [4.3668999671936035, -0.3136729598045349, 0.6786140203475952], [1.6137399673461914, -0.3136729598045349, -0.14678500592708588], [-0.12228299677371979, -0.3136729598045349, 0.04611460119485855], [-2.181410074234009, -0.038058795034885406, 0.3217200040817261]]", "geodesic_distance": 9.974464416503906, "gt_locations": "[[5.549860000610352, -0.3136729598045349, 3.7293899059295654], [5.48515510559082, -0.3136729598045349, 3.487908363342285], [5.420450210571289, -0.3136729598045349, 3.246426820755005], [5.355745315551758, -0.3136729598045349, 3.0049452781677246], [5.291040420532227, -0.3136729598045349, 2.7634637355804443], [5.226335525512695, -0.3136729598045349, 2.521982192993164], [5.101335525512695, -0.3136729598045349, 2.305475950241089], [4.976335525512695, -0.3136729598045349, 2.0889697074890137], [4.851335525512695, -0.3136729598045349, 1.872463345527649], [4.726335525512695, -0.3136729598045349, 1.6559569835662842], [4.661630630493164, -0.3136729598045349, 1.4144755601882935], [4.596925735473633, -0.3136729598045349, 1.1729941368103027], [4.471925735473633, -0.3136729598045349, 0.956487774848938], [4.295148849487305, -0.3136729598045349, 0.7797110676765442], [4.130892276763916, -0.3136729598045349, 0.5904140472412109], [3.954115629196167, -0.3136729598045349, 0.41363734006881714], [3.777338981628418, -0.3136729598045349, 0.23686063289642334], [3.5608325004577637, -0.3136729598045349, 0.11186063289642334], [3.3193509578704834, -0.3136729598045349, 0.047155871987342834], [3.077869415283203, -0.3136729598045349, -0.01754888892173767], [2.827869415283203, -0.3136729598045349, -0.017548903822898865], [2.577869415283203, -0.3136729598045349, -0.01754891872406006], [2.327869415283203, -0.3136729598045349, -0.017548933625221252], [2.086387872695923, -0.3136729598045349, -0.08225369453430176], [1.8363878726959229, -0.3136729598045349, -0.08225366473197937], [1.5863878726959229, -0.3136729598045349, -0.08225363492965698], [1.3363878726959229, -0.3136729598045349, -0.0822536051273346], [1.0863878726959229, -0.3136729598045349, -0.08225357532501221], [0.8363878726959229, -0.3136729598045349, -0.08225354552268982], [0.5863878726959229, -0.3136729598045349, -0.08225351572036743], [0.34490638971328735, -0.3136729598045349, -0.017548710107803345], [0.10342489182949066, -0.3136729598045349, 0.04715609550476074], [-0.13805660605430603, -0.3136729598045349, 0.11186090111732483], [-0.3795381188392639, -0.3136729598045349, 0.17656570672988892], [-0.6295381188392639, -0.30531173944473267, 0.17656569182872772], [-0.8795381188392639, -0.2857586443424225, 0.17656567692756653], [-1.1295380592346191, -0.2662055492401123, 0.17656566202640533], [-1.3795380592346191, -0.10422666370868683, 0.17656564712524414], [-1.6210194826126099, -0.0838140994310379, 0.24127039313316345], [-1.8625009059906006, -0.06340153515338898, 0.30597513914108276]]", "gt_actions": "[2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 20, "episode_id": "21", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk between the couch and the window.  Turn left and walk towards the stairway.  Go up the three steps and when you get to the top, wait. ", "start_position": [5.549860000610352, -0.3136729598045349, 3.7293899059295654], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.181410074234009, -0.038058795034885406, 0.3217200040817261], "goal_radius": 3.0, "reference_path": "[[5.549860000610352, -0.3136729598045349, 3.7293899059295654], [4.3668999671936035, -0.3136729598045349, 0.6786140203475952], [1.6137399673461914, -0.3136729598045349, -0.14678500592708588], [-0.12228299677371979, -0.3136729598045349, 0.04611460119485855], [-2.181410074234009, -0.038058795034885406, 0.3217200040817261]]", "geodesic_distance": 9.974464416503906, "gt_locations": "[[5.549860000610352, -0.3136729598045349, 3.7293899059295654], [5.48515510559082, -0.3136729598045349, 3.487908363342285], [5.420450210571289, -0.3136729598045349, 3.246426820755005], [5.355745315551758, -0.3136729598045349, 3.0049452781677246], [5.291040420532227, -0.3136729598045349, 2.7634637355804443], [5.226335525512695, -0.3136729598045349, 2.521982192993164], [5.101335525512695, -0.3136729598045349, 2.305475950241089], [4.976335525512695, -0.3136729598045349, 2.0889697074890137], [4.851335525512695, -0.3136729598045349, 1.872463345527649], [4.726335525512695, -0.3136729598045349, 1.6559569835662842], [4.661630630493164, -0.3136729598045349, 1.4144755601882935], [4.596925735473633, -0.3136729598045349, 1.1729941368103027], [4.471925735473633, -0.3136729598045349, 0.956487774848938], [4.295148849487305, -0.3136729598045349, 0.7797110676765442], [4.130892276763916, -0.3136729598045349, 0.5904140472412109], [3.954115629196167, -0.3136729598045349, 0.41363734006881714], [3.777338981628418, -0.3136729598045349, 0.23686063289642334], [3.5608325004577637, -0.3136729598045349, 0.11186063289642334], [3.3193509578704834, -0.3136729598045349, 0.047155871987342834], [3.077869415283203, -0.3136729598045349, -0.01754888892173767], [2.827869415283203, -0.3136729598045349, -0.017548903822898865], [2.577869415283203, -0.3136729598045349, -0.01754891872406006], [2.327869415283203, -0.3136729598045349, -0.017548933625221252], [2.086387872695923, -0.3136729598045349, -0.08225369453430176], [1.8363878726959229, -0.3136729598045349, -0.08225366473197937], [1.5863878726959229, -0.3136729598045349, -0.08225363492965698], [1.3363878726959229, -0.3136729598045349, -0.0822536051273346], [1.0863878726959229, -0.3136729598045349, -0.08225357532501221], [0.8363878726959229, -0.3136729598045349, -0.08225354552268982], [0.5863878726959229, -0.3136729598045349, -0.08225351572036743], [0.34490638971328735, -0.3136729598045349, -0.017548710107803345], [0.10342489182949066, -0.3136729598045349, 0.04715609550476074], [-0.13805660605430603, -0.3136729598045349, 0.11186090111732483], [-0.3795381188392639, -0.3136729598045349, 0.17656570672988892], [-0.6295381188392639, -0.30531173944473267, 0.17656569182872772], [-0.8795381188392639, -0.2857586443424225, 0.17656567692756653], [-1.1295380592346191, -0.2662055492401123, 0.17656566202640533], [-1.3795380592346191, -0.10422666370868683, 0.17656564712524414], [-1.6210194826126099, -0.0838140994310379, 0.24127039313316345], [-1.8625009059906006, -0.06340153515338898, 0.30597513914108276]]", "gt_actions": "[2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 21, "episode_id": "22", "scene_id": "PX4nDJXEHrG", "instruction": "Go out the door. turn left and go out that door. Turn right and go toward the table. Proceed to the stairs on the right. ", "start_position": [-6.216169834136963, 0.11554622650146484, 3.0298099517822266], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-10.769399642944336, -0.20051831007003784, -3.2214200496673584], "goal_radius": 3.0, "reference_path": "[[-6.216169834136963, 0.11554622650146484, 3.0298099517822266], [-5.8990797996521, 0.11554622650146484, 2.388730049133301], [-6.910729885101318, 0.11554622650146484, 2.637540102005005], [-7.902629852294922, 0.11554622650146484, 0.8805490136146545], [-9.187370300292969, 0.11554622650146484, -0.5329809784889221], [-12.035599708557129, 0.11554622650146484, -1.8261699676513672], [-10.769399642944336, -0.20051831007003784, -3.2214200496673584]]", "geodesic_distance": 9.62505054473877, "gt_locations": "[[-6.216169834136963, 0.11554622650146484, 3.0298099517822266], [-6.091169834136963, 0.11554622650146484, 2.8133037090301514], [-5.9103851318359375, 0.11554622650146484, 2.6405351161956787], [-5.975090026855469, 0.11554622650146484, 2.3990535736083984], [-6.236917495727539, 0.11554622650146484, 2.4271349906921387], [-6.47839879989624, 0.11554622650146484, 2.49183988571167], [-6.719880104064941, 0.11554622650146484, 2.4271352291107178], [-6.961361408233643, 0.11554622650146484, 2.3624305725097656], [-7.138138294219971, 0.11554622650146484, 2.1856539249420166], [-7.314915180206299, 0.11554622650146484, 2.0088772773742676], [-7.439915180206299, 0.11554622650146484, 1.7923709154129028], [-7.564915180206299, 0.11554622650146484, 1.575864553451538], [-7.689915180206299, 0.11554622650146484, 1.3593581914901733], [-7.814915180206299, 0.11554622650146484, 1.1428518295288086], [-7.939915180206299, 0.11554622650146484, 0.9263454675674438], [-8.116691589355469, 0.11554622650146484, 0.74956876039505], [-8.293468475341797, 0.11554622650146484, 0.5727920532226562], [-8.470245361328125, 0.11554622650146484, 0.39601534605026245], [-8.647022247314453, 0.11554622650146484, 0.21923863887786865], [-8.823799133300781, 0.11554622650146484, 0.042461931705474854], [-8.948799133300781, 0.11554622650146484, -0.1740444302558899], [-9.165305137634277, 0.11554622650146484, -0.2990444600582123], [-9.381811141967773, 0.11554622650146484, -0.42404448986053467], [-9.59831714630127, 0.11554622650146484, -0.5490444898605347], [-9.814823150634766, 0.11554622650146484, -0.6740444898605347], [-10.031329154968262, 0.11554622650146484, -0.7990444898605347], [-10.247835159301758, 0.11554622650146484, -0.9240444898605347], [-10.464341163635254, 0.11554622650146484, -1.0490444898605347], [-10.68084716796875, 0.11554622650146484, -1.1740444898605347], [-10.897353172302246, 0.11554622650146484, -1.2990444898605347], [-11.113859176635742, 0.11554622650146484, -1.4240444898605347], [-11.330365180969238, 0.11554622650146484, -1.5490444898605347], [-11.546871185302734, 0.11554622650146484, -1.6740444898605347], [-11.788352966308594, 0.11554622650146484, -1.7387492656707764], [-11.723648071289062, 0.11554622650146484, -1.980230689048767], [-11.658943176269531, 0.11554622650146484, -2.221712112426758], [-11.59423828125, 0.11554622650146484, -2.463193655014038], [-11.529533386230469, 0.11554622650146484, -2.7046751976013184], [-11.404533386230469, 0.11554622650146484, -2.9211814403533936], [-11.339828491210938, 0.11554622650146484, -3.162662982940674], [-11.098346710205078, 0.02398248016834259, -3.227367639541626]]", "gt_actions": "[3, 3, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 1, 1, 3, 3, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 3, 3, 3, 3, 1, 0]"}
{"id": 22, "episode_id": "23", "scene_id": "PX4nDJXEHrG", "instruction": "Go toward the door. Turn left by the black vanity. You will see an indoor glass window. Go toward the glass window and through the doorway. When your in the hallway by the  window take a right. Go toward the table with the pictures on it. Then go toward the wall with the security box or thermostat. Next and finally you take a right and when you get to the side of the stairs you have arrived. ", "start_position": [-6.216169834136963, 0.11554622650146484, 3.0298099517822266], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-10.769399642944336, -0.20051831007003784, -3.2214200496673584], "goal_radius": 3.0, "reference_path": "[[-6.216169834136963, 0.11554622650146484, 3.0298099517822266], [-5.8990797996521, 0.11554622650146484, 2.388730049133301], [-6.910729885101318, 0.11554622650146484, 2.637540102005005], [-7.902629852294922, 0.11554622650146484, 0.8805490136146545], [-9.187370300292969, 0.11554622650146484, -0.5329809784889221], [-12.035599708557129, 0.11554622650146484, -1.8261699676513672], [-10.769399642944336, -0.20051831007003784, -3.2214200496673584]]", "geodesic_distance": 9.62505054473877, "gt_locations": "[[-6.216169834136963, 0.11554622650146484, 3.0298099517822266], [-6.091169834136963, 0.11554622650146484, 2.8133037090301514], [-5.9103851318359375, 0.11554622650146484, 2.6405351161956787], [-5.975090026855469, 0.11554622650146484, 2.3990535736083984], [-6.236917495727539, 0.11554622650146484, 2.4271349906921387], [-6.47839879989624, 0.11554622650146484, 2.49183988571167], [-6.719880104064941, 0.11554622650146484, 2.4271352291107178], [-6.961361408233643, 0.11554622650146484, 2.3624305725097656], [-7.138138294219971, 0.11554622650146484, 2.1856539249420166], [-7.314915180206299, 0.11554622650146484, 2.0088772773742676], [-7.439915180206299, 0.11554622650146484, 1.7923709154129028], [-7.564915180206299, 0.11554622650146484, 1.575864553451538], [-7.689915180206299, 0.11554622650146484, 1.3593581914901733], [-7.814915180206299, 0.11554622650146484, 1.1428518295288086], [-7.939915180206299, 0.11554622650146484, 0.9263454675674438], [-8.116691589355469, 0.11554622650146484, 0.74956876039505], [-8.293468475341797, 0.11554622650146484, 0.5727920532226562], [-8.470245361328125, 0.11554622650146484, 0.39601534605026245], [-8.647022247314453, 0.11554622650146484, 0.21923863887786865], [-8.823799133300781, 0.11554622650146484, 0.042461931705474854], [-8.948799133300781, 0.11554622650146484, -0.1740444302558899], [-9.165305137634277, 0.11554622650146484, -0.2990444600582123], [-9.381811141967773, 0.11554622650146484, -0.42404448986053467], [-9.59831714630127, 0.11554622650146484, -0.5490444898605347], [-9.814823150634766, 0.11554622650146484, -0.6740444898605347], [-10.031329154968262, 0.11554622650146484, -0.7990444898605347], [-10.247835159301758, 0.11554622650146484, -0.9240444898605347], [-10.464341163635254, 0.11554622650146484, -1.0490444898605347], [-10.68084716796875, 0.11554622650146484, -1.1740444898605347], [-10.897353172302246, 0.11554622650146484, -1.2990444898605347], [-11.113859176635742, 0.11554622650146484, -1.4240444898605347], [-11.330365180969238, 0.11554622650146484, -1.5490444898605347], [-11.546871185302734, 0.11554622650146484, -1.6740444898605347], [-11.788352966308594, 0.11554622650146484, -1.7387492656707764], [-11.723648071289062, 0.11554622650146484, -1.980230689048767], [-11.658943176269531, 0.11554622650146484, -2.221712112426758], [-11.59423828125, 0.11554622650146484, -2.463193655014038], [-11.529533386230469, 0.11554622650146484, -2.7046751976013184], [-11.404533386230469, 0.11554622650146484, -2.9211814403533936], [-11.339828491210938, 0.11554622650146484, -3.162662982940674], [-11.098346710205078, 0.02398248016834259, -3.227367639541626]]", "gt_actions": "[3, 3, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 1, 1, 3, 3, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 3, 3, 3, 3, 1, 0]"}
{"id": 23, "episode_id": "24", "scene_id": "PX4nDJXEHrG", "instruction": "Walk out of the bathroom and take a right. Then take a left. Take another right and wait at the top of the stairs. ", "start_position": [-6.216169834136963, 0.11554622650146484, 3.0298099517822266], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-10.769399642944336, -0.20051831007003784, -3.2214200496673584], "goal_radius": 3.0, "reference_path": "[[-6.216169834136963, 0.11554622650146484, 3.0298099517822266], [-5.8990797996521, 0.11554622650146484, 2.388730049133301], [-6.910729885101318, 0.11554622650146484, 2.637540102005005], [-7.902629852294922, 0.11554622650146484, 0.8805490136146545], [-9.187370300292969, 0.11554622650146484, -0.5329809784889221], [-12.035599708557129, 0.11554622650146484, -1.8261699676513672], [-10.769399642944336, -0.20051831007003784, -3.2214200496673584]]", "geodesic_distance": 9.62505054473877, "gt_locations": "[[-6.216169834136963, 0.11554622650146484, 3.0298099517822266], [-6.091169834136963, 0.11554622650146484, 2.8133037090301514], [-5.9103851318359375, 0.11554622650146484, 2.6405351161956787], [-5.975090026855469, 0.11554622650146484, 2.3990535736083984], [-6.236917495727539, 0.11554622650146484, 2.4271349906921387], [-6.47839879989624, 0.11554622650146484, 2.49183988571167], [-6.719880104064941, 0.11554622650146484, 2.4271352291107178], [-6.961361408233643, 0.11554622650146484, 2.3624305725097656], [-7.138138294219971, 0.11554622650146484, 2.1856539249420166], [-7.314915180206299, 0.11554622650146484, 2.0088772773742676], [-7.439915180206299, 0.11554622650146484, 1.7923709154129028], [-7.564915180206299, 0.11554622650146484, 1.575864553451538], [-7.689915180206299, 0.11554622650146484, 1.3593581914901733], [-7.814915180206299, 0.11554622650146484, 1.1428518295288086], [-7.939915180206299, 0.11554622650146484, 0.9263454675674438], [-8.116691589355469, 0.11554622650146484, 0.74956876039505], [-8.293468475341797, 0.11554622650146484, 0.5727920532226562], [-8.470245361328125, 0.11554622650146484, 0.39601534605026245], [-8.647022247314453, 0.11554622650146484, 0.21923863887786865], [-8.823799133300781, 0.11554622650146484, 0.042461931705474854], [-8.948799133300781, 0.11554622650146484, -0.1740444302558899], [-9.165305137634277, 0.11554622650146484, -0.2990444600582123], [-9.381811141967773, 0.11554622650146484, -0.42404448986053467], [-9.59831714630127, 0.11554622650146484, -0.5490444898605347], [-9.814823150634766, 0.11554622650146484, -0.6740444898605347], [-10.031329154968262, 0.11554622650146484, -0.7990444898605347], [-10.247835159301758, 0.11554622650146484, -0.9240444898605347], [-10.464341163635254, 0.11554622650146484, -1.0490444898605347], [-10.68084716796875, 0.11554622650146484, -1.1740444898605347], [-10.897353172302246, 0.11554622650146484, -1.2990444898605347], [-11.113859176635742, 0.11554622650146484, -1.4240444898605347], [-11.330365180969238, 0.11554622650146484, -1.5490444898605347], [-11.546871185302734, 0.11554622650146484, -1.6740444898605347], [-11.788352966308594, 0.11554622650146484, -1.7387492656707764], [-11.723648071289062, 0.11554622650146484, -1.980230689048767], [-11.658943176269531, 0.11554622650146484, -2.221712112426758], [-11.59423828125, 0.11554622650146484, -2.463193655014038], [-11.529533386230469, 0.11554622650146484, -2.7046751976013184], [-11.404533386230469, 0.11554622650146484, -2.9211814403533936], [-11.339828491210938, 0.11554622650146484, -3.162662982940674], [-11.098346710205078, 0.02398248016834259, -3.227367639541626]]", "gt_actions": "[3, 3, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 2, 1, 1, 3, 3, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 3, 3, 3, 3, 1, 0]"}
{"id": 24, "episode_id": "25", "scene_id": "7y3sRwLe3Va", "instruction": "Turn around and walk towards the table with the plant on it.  Turn to the right and walk into the living room and stand just behind the couch and wait. ", "start_position": [-8.096890449523926, 0.1518409252166748, 10.167400360107422], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-4.911049842834473, 0.1518409252166748, 5.0736799240112305], "goal_radius": 3.0, "reference_path": "[[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.114720344543457, 0.1518409252166748, 8.467169761657715], [-8.174960136413574, 0.1518409252166748, 5.947000026702881], [-5.986519813537598, 0.1518409252166748, 3.58024001121521], [-4.911049842834473, 0.1518409252166748, 5.0736799240112305]]", "geodesic_distance": 6.961964130401611, "gt_locations": "[[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.096890449523926, 0.1518409252166748, 9.917400360107422], [-8.096890449523926, 0.1518409252166748, 9.667400360107422], [-8.096890449523926, 0.1518409252166748, 9.417400360107422], [-8.096890449523926, 0.1518409252166748, 9.167400360107422], [-8.096890449523926, 0.1518409252166748, 8.917400360107422], [-8.096890449523926, 0.1518409252166748, 8.667400360107422], [-8.096890449523926, 0.1518409252166748, 8.417400360107422], [-8.096890449523926, 0.1518409252166748, 8.167400360107422], [-8.096890449523926, 0.1518409252166748, 7.917400360107422], [-8.096890449523926, 0.1518409252166748, 7.667400360107422], [-8.096890449523926, 0.1518409252166748, 7.417400360107422], [-8.096890449523926, 0.1518409252166748, 7.167400360107422], [-8.096890449523926, 0.1518409252166748, 6.917400360107422], [-8.096890449523926, 0.1518409252166748, 6.667400360107422], [-8.096890449523926, 0.1518409252166748, 6.417400360107422], [-7.971890449523926, 0.1518409252166748, 6.200893878936768], [-7.846890449523926, 0.1518409252166748, 5.984387397766113], [-7.721890449523926, 0.1518409252166748, 5.767880916595459], [-7.596890449523926, 0.1518409252166748, 5.551374435424805], [-7.471890449523926, 0.1518409252166748, 5.33486795425415], [-7.295113563537598, 0.1518409252166748, 5.158091068267822], [-7.1183366775512695, 0.1518409252166748, 4.981314182281494], [-6.941559791564941, 0.1518409252166748, 4.804537296295166], [-6.764782905578613, 0.1518409252166748, 4.627760410308838], [-6.588006019592285, 0.1518409252166748, 4.45098352432251], [-6.463006019592285, 0.1518409252166748, 4.2344770431518555], [-6.338006019592285, 0.1518409252166748, 4.017970561981201], [-6.213006019592285, 0.1518409252166748, 3.801464319229126], [-6.036229133605957, 0.1518409252166748, 3.978240966796875], [-5.859452247619629, 0.1518409252166748, 4.155017852783203], [-5.682675361633301, 0.1518409252166748, 4.331794738769531], [-5.505898475646973, 0.1518409252166748, 4.508571624755859], [-5.3276896476745605, 0.1518409252166748, 4.70734167098999], [-5.150912761688232, 0.1518409252166748, 4.884118556976318]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 25, "episode_id": "26", "scene_id": "7y3sRwLe3Va", "instruction": "Walk alongside the staircase through the hall towards the backdoor of the home. Turn the corner into the living room area with couches. ", "start_position": [-8.096890449523926, 0.1518409252166748, 10.167400360107422], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-4.911049842834473, 0.1518409252166748, 5.0736799240112305], "goal_radius": 3.0, "reference_path": "[[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.114720344543457, 0.1518409252166748, 8.467169761657715], [-8.174960136413574, 0.1518409252166748, 5.947000026702881], [-5.986519813537598, 0.1518409252166748, 3.58024001121521], [-4.911049842834473, 0.1518409252166748, 5.0736799240112305]]", "geodesic_distance": 6.961964130401611, "gt_locations": "[[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.096890449523926, 0.1518409252166748, 9.917400360107422], [-8.096890449523926, 0.1518409252166748, 9.667400360107422], [-8.096890449523926, 0.1518409252166748, 9.417400360107422], [-8.096890449523926, 0.1518409252166748, 9.167400360107422], [-8.096890449523926, 0.1518409252166748, 8.917400360107422], [-8.096890449523926, 0.1518409252166748, 8.667400360107422], [-8.096890449523926, 0.1518409252166748, 8.417400360107422], [-8.096890449523926, 0.1518409252166748, 8.167400360107422], [-8.096890449523926, 0.1518409252166748, 7.917400360107422], [-8.096890449523926, 0.1518409252166748, 7.667400360107422], [-8.096890449523926, 0.1518409252166748, 7.417400360107422], [-8.096890449523926, 0.1518409252166748, 7.167400360107422], [-8.096890449523926, 0.1518409252166748, 6.917400360107422], [-8.096890449523926, 0.1518409252166748, 6.667400360107422], [-8.096890449523926, 0.1518409252166748, 6.417400360107422], [-7.971890449523926, 0.1518409252166748, 6.200893878936768], [-7.846890449523926, 0.1518409252166748, 5.984387397766113], [-7.721890449523926, 0.1518409252166748, 5.767880916595459], [-7.596890449523926, 0.1518409252166748, 5.551374435424805], [-7.471890449523926, 0.1518409252166748, 5.33486795425415], [-7.295113563537598, 0.1518409252166748, 5.158091068267822], [-7.1183366775512695, 0.1518409252166748, 4.981314182281494], [-6.941559791564941, 0.1518409252166748, 4.804537296295166], [-6.764782905578613, 0.1518409252166748, 4.627760410308838], [-6.588006019592285, 0.1518409252166748, 4.45098352432251], [-6.463006019592285, 0.1518409252166748, 4.2344770431518555], [-6.338006019592285, 0.1518409252166748, 4.017970561981201], [-6.213006019592285, 0.1518409252166748, 3.801464319229126], [-6.036229133605957, 0.1518409252166748, 3.978240966796875], [-5.859452247619629, 0.1518409252166748, 4.155017852783203], [-5.682675361633301, 0.1518409252166748, 4.331794738769531], [-5.505898475646973, 0.1518409252166748, 4.508571624755859], [-5.3276896476745605, 0.1518409252166748, 4.70734167098999], [-5.150912761688232, 0.1518409252166748, 4.884118556976318]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 26, "episode_id": "27", "scene_id": "7y3sRwLe3Va", "instruction": "Walk forward past the console table on the right into the open area. In the open area take a  right into the living room. In the living room take a right, and stop behind the couch near the right corner. ", "start_position": [-8.096890449523926, 0.1518409252166748, 10.167400360107422], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-4.911049842834473, 0.1518409252166748, 5.0736799240112305], "goal_radius": 3.0, "reference_path": "[[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.114720344543457, 0.1518409252166748, 8.467169761657715], [-8.174960136413574, 0.1518409252166748, 5.947000026702881], [-5.986519813537598, 0.1518409252166748, 3.58024001121521], [-4.911049842834473, 0.1518409252166748, 5.0736799240112305]]", "geodesic_distance": 6.961964130401611, "gt_locations": "[[-8.096890449523926, 0.1518409252166748, 10.167400360107422], [-8.096890449523926, 0.1518409252166748, 9.917400360107422], [-8.096890449523926, 0.1518409252166748, 9.667400360107422], [-8.096890449523926, 0.1518409252166748, 9.417400360107422], [-8.096890449523926, 0.1518409252166748, 9.167400360107422], [-8.096890449523926, 0.1518409252166748, 8.917400360107422], [-8.096890449523926, 0.1518409252166748, 8.667400360107422], [-8.096890449523926, 0.1518409252166748, 8.417400360107422], [-8.096890449523926, 0.1518409252166748, 8.167400360107422], [-8.096890449523926, 0.1518409252166748, 7.917400360107422], [-8.096890449523926, 0.1518409252166748, 7.667400360107422], [-8.096890449523926, 0.1518409252166748, 7.417400360107422], [-8.096890449523926, 0.1518409252166748, 7.167400360107422], [-8.096890449523926, 0.1518409252166748, 6.917400360107422], [-8.096890449523926, 0.1518409252166748, 6.667400360107422], [-8.096890449523926, 0.1518409252166748, 6.417400360107422], [-7.971890449523926, 0.1518409252166748, 6.200893878936768], [-7.846890449523926, 0.1518409252166748, 5.984387397766113], [-7.721890449523926, 0.1518409252166748, 5.767880916595459], [-7.596890449523926, 0.1518409252166748, 5.551374435424805], [-7.471890449523926, 0.1518409252166748, 5.33486795425415], [-7.295113563537598, 0.1518409252166748, 5.158091068267822], [-7.1183366775512695, 0.1518409252166748, 4.981314182281494], [-6.941559791564941, 0.1518409252166748, 4.804537296295166], [-6.764782905578613, 0.1518409252166748, 4.627760410308838], [-6.588006019592285, 0.1518409252166748, 4.45098352432251], [-6.463006019592285, 0.1518409252166748, 4.2344770431518555], [-6.338006019592285, 0.1518409252166748, 4.017970561981201], [-6.213006019592285, 0.1518409252166748, 3.801464319229126], [-6.036229133605957, 0.1518409252166748, 3.978240966796875], [-5.859452247619629, 0.1518409252166748, 4.155017852783203], [-5.682675361633301, 0.1518409252166748, 4.331794738769531], [-5.505898475646973, 0.1518409252166748, 4.508571624755859], [-5.3276896476745605, 0.1518409252166748, 4.70734167098999], [-5.150912761688232, 0.1518409252166748, 4.884118556976318]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 27, "episode_id": "28", "scene_id": "E9uDoFAP3SH", "instruction": "pass bottom of stairs, go to center door on right. ", "start_position": [2.0657598972320557, -5.955618858337402, 8.96576976776123], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-3.119610071182251, -5.955618858337402, 2.073770046234131], "goal_radius": 3.0, "reference_path": "[[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.1868600845336914, -5.955618858337402, 6.766119956970215], [2.298409938812256, -5.955618858337402, 4.447020053863525], [-0.4567739963531494, -5.955618858337402, 3.4851698875427246], [-3.119610071182251, -5.955618858337402, 2.073770046234131]]", "geodesic_distance": 9.840866088867188, "gt_locations": "[[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.0657598972320557, -5.955618858337402, 8.71576976776123], [2.0657598972320557, -5.955618858337402, 8.46576976776123], [2.0657598972320557, -5.955618858337402, 8.21576976776123], [2.0657598972320557, -5.955618858337402, 7.9657697677612305], [2.0657598972320557, -5.955618858337402, 7.7157697677612305], [2.0657598972320557, -5.955618858337402, 7.4657697677612305], [2.130464553833008, -5.955618858337402, 7.224288463592529], [2.130464553833008, -5.955618858337402, 6.974288463592529], [2.130464553833008, -5.955618858337402, 6.724288463592529], [2.130464553833008, -5.955618858337402, 6.474288463592529], [2.130464553833008, -5.955618858337402, 6.224288463592529], [2.130464553833008, -5.955618858337402, 5.974288463592529], [2.130464553833008, -5.955618858337402, 5.724288463592529], [2.130464553833008, -5.955618858337402, 5.474288463592529], [2.130464553833008, -5.955618858337402, 5.224288463592529], [2.19516921043396, -5.955618858337402, 4.982807159423828], [2.259873867034912, -5.955618858337402, 4.741325855255127], [2.083097219467163, -5.955618858337402, 4.564548969268799], [1.906320571899414, -5.955618858337402, 4.387772083282471], [1.6898142099380493, -5.955618858337402, 4.262772083282471], [1.5130374431610107, -5.955618858337402, 4.085995197296143], [1.296531081199646, -5.955618858337402, 3.9609951972961426], [1.046531081199646, -5.955618858337402, 3.878800392150879], [0.8050495982170105, -5.955618858337402, 3.8140957355499268], [0.563568115234375, -5.955618858337402, 3.7493910789489746], [0.3220866322517395, -5.955618858337402, 3.6846864223480225], [0.0806051641702652, -5.955618858337402, 3.6199817657470703], [-0.1608763039112091, -5.955618858337402, 3.555277109146118], [-0.37738269567489624, -5.955618858337402, 3.430277109146118], [-0.593889057636261, -5.955618858337402, 3.305277109146118], [-0.8103954195976257, -5.955618858337402, 3.180277109146118], [-1.0269018411636353, -5.955618858337402, 3.055277109146118], [-1.243408203125, -5.955618858337402, 2.930277109146118], [-1.4599145650863647, -5.955618858337402, 2.805277109146118], [-1.6764209270477295, -5.955618858337402, 2.680277109146118], [-1.8929272890090942, -5.955618858337402, 2.555277109146118], [-2.109433650970459, -5.955618858337402, 2.430277109146118], [-2.3509151935577393, -5.955618858337402, 2.365572452545166], [-2.5923967361450195, -5.955618858337402, 2.300867795944214], [-2.8338782787323, -5.955618858337402, 2.2361631393432617]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 28, "episode_id": "29", "scene_id": "E9uDoFAP3SH", "instruction": "Turn around and go down the entranceway, heading toward the staircase. Turn to your left and walk past the staircase to the open door way. Stop near the front of the doorway to the hall. ", "start_position": [2.0657598972320557, -5.955618858337402, 8.96576976776123], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-3.119610071182251, -5.955618858337402, 2.073770046234131], "goal_radius": 3.0, "reference_path": "[[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.1868600845336914, -5.955618858337402, 6.766119956970215], [2.298409938812256, -5.955618858337402, 4.447020053863525], [-0.4567739963531494, -5.955618858337402, 3.4851698875427246], [-3.119610071182251, -5.955618858337402, 2.073770046234131]]", "geodesic_distance": 9.840866088867188, "gt_locations": "[[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.0657598972320557, -5.955618858337402, 8.71576976776123], [2.0657598972320557, -5.955618858337402, 8.46576976776123], [2.0657598972320557, -5.955618858337402, 8.21576976776123], [2.0657598972320557, -5.955618858337402, 7.9657697677612305], [2.0657598972320557, -5.955618858337402, 7.7157697677612305], [2.0657598972320557, -5.955618858337402, 7.4657697677612305], [2.130464553833008, -5.955618858337402, 7.224288463592529], [2.130464553833008, -5.955618858337402, 6.974288463592529], [2.130464553833008, -5.955618858337402, 6.724288463592529], [2.130464553833008, -5.955618858337402, 6.474288463592529], [2.130464553833008, -5.955618858337402, 6.224288463592529], [2.130464553833008, -5.955618858337402, 5.974288463592529], [2.130464553833008, -5.955618858337402, 5.724288463592529], [2.130464553833008, -5.955618858337402, 5.474288463592529], [2.130464553833008, -5.955618858337402, 5.224288463592529], [2.19516921043396, -5.955618858337402, 4.982807159423828], [2.259873867034912, -5.955618858337402, 4.741325855255127], [2.083097219467163, -5.955618858337402, 4.564548969268799], [1.906320571899414, -5.955618858337402, 4.387772083282471], [1.6898142099380493, -5.955618858337402, 4.262772083282471], [1.5130374431610107, -5.955618858337402, 4.085995197296143], [1.296531081199646, -5.955618858337402, 3.9609951972961426], [1.046531081199646, -5.955618858337402, 3.878800392150879], [0.8050495982170105, -5.955618858337402, 3.8140957355499268], [0.563568115234375, -5.955618858337402, 3.7493910789489746], [0.3220866322517395, -5.955618858337402, 3.6846864223480225], [0.0806051641702652, -5.955618858337402, 3.6199817657470703], [-0.1608763039112091, -5.955618858337402, 3.555277109146118], [-0.37738269567489624, -5.955618858337402, 3.430277109146118], [-0.593889057636261, -5.955618858337402, 3.305277109146118], [-0.8103954195976257, -5.955618858337402, 3.180277109146118], [-1.0269018411636353, -5.955618858337402, 3.055277109146118], [-1.243408203125, -5.955618858337402, 2.930277109146118], [-1.4599145650863647, -5.955618858337402, 2.805277109146118], [-1.6764209270477295, -5.955618858337402, 2.680277109146118], [-1.8929272890090942, -5.955618858337402, 2.555277109146118], [-2.109433650970459, -5.955618858337402, 2.430277109146118], [-2.3509151935577393, -5.955618858337402, 2.365572452545166], [-2.5923967361450195, -5.955618858337402, 2.300867795944214], [-2.8338782787323, -5.955618858337402, 2.2361631393432617]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 29, "episode_id": "30", "scene_id": "E9uDoFAP3SH", "instruction": "Go to the bottom of the staircase, go to the entrance of first room to the left of the staircase, wait by the chair. ", "start_position": [2.0657598972320557, -5.955618858337402, 8.96576976776123], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-3.119610071182251, -5.955618858337402, 2.073770046234131], "goal_radius": 3.0, "reference_path": "[[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.1868600845336914, -5.955618858337402, 6.766119956970215], [2.298409938812256, -5.955618858337402, 4.447020053863525], [-0.4567739963531494, -5.955618858337402, 3.4851698875427246], [-3.119610071182251, -5.955618858337402, 2.073770046234131]]", "geodesic_distance": 9.840866088867188, "gt_locations": "[[2.0657598972320557, -5.955618858337402, 8.96576976776123], [2.0657598972320557, -5.955618858337402, 8.71576976776123], [2.0657598972320557, -5.955618858337402, 8.46576976776123], [2.0657598972320557, -5.955618858337402, 8.21576976776123], [2.0657598972320557, -5.955618858337402, 7.9657697677612305], [2.0657598972320557, -5.955618858337402, 7.7157697677612305], [2.0657598972320557, -5.955618858337402, 7.4657697677612305], [2.130464553833008, -5.955618858337402, 7.224288463592529], [2.130464553833008, -5.955618858337402, 6.974288463592529], [2.130464553833008, -5.955618858337402, 6.724288463592529], [2.130464553833008, -5.955618858337402, 6.474288463592529], [2.130464553833008, -5.955618858337402, 6.224288463592529], [2.130464553833008, -5.955618858337402, 5.974288463592529], [2.130464553833008, -5.955618858337402, 5.724288463592529], [2.130464553833008, -5.955618858337402, 5.474288463592529], [2.130464553833008, -5.955618858337402, 5.224288463592529], [2.19516921043396, -5.955618858337402, 4.982807159423828], [2.259873867034912, -5.955618858337402, 4.741325855255127], [2.083097219467163, -5.955618858337402, 4.564548969268799], [1.906320571899414, -5.955618858337402, 4.387772083282471], [1.6898142099380493, -5.955618858337402, 4.262772083282471], [1.5130374431610107, -5.955618858337402, 4.085995197296143], [1.296531081199646, -5.955618858337402, 3.9609951972961426], [1.046531081199646, -5.955618858337402, 3.878800392150879], [0.8050495982170105, -5.955618858337402, 3.8140957355499268], [0.563568115234375, -5.955618858337402, 3.7493910789489746], [0.3220866322517395, -5.955618858337402, 3.6846864223480225], [0.0806051641702652, -5.955618858337402, 3.6199817657470703], [-0.1608763039112091, -5.955618858337402, 3.555277109146118], [-0.37738269567489624, -5.955618858337402, 3.430277109146118], [-0.593889057636261, -5.955618858337402, 3.305277109146118], [-0.8103954195976257, -5.955618858337402, 3.180277109146118], [-1.0269018411636353, -5.955618858337402, 3.055277109146118], [-1.243408203125, -5.955618858337402, 2.930277109146118], [-1.4599145650863647, -5.955618858337402, 2.805277109146118], [-1.6764209270477295, -5.955618858337402, 2.680277109146118], [-1.8929272890090942, -5.955618858337402, 2.555277109146118], [-2.109433650970459, -5.955618858337402, 2.430277109146118], [-2.3509151935577393, -5.955618858337402, 2.365572452545166], [-2.5923967361450195, -5.955618858337402, 2.300867795944214], [-2.8338782787323, -5.955618858337402, 2.2361631393432617]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 30, "episode_id": "31", "scene_id": "dhjEzFoUFzH", "instruction": "Go towards the back of the church, between the long pew on the left and rows of pews on the right  Go towards the pack exit.  Stop to the left of the of the wall which is to the left of the exit, with a brass handrail. 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{"id": 31, "episode_id": "32", "scene_id": "dhjEzFoUFzH", "instruction": "Go left down the hall. Continue to the stairs. ", "start_position": [3.125960111618042, -0.15115001797676086, -19.32819938659668], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [1.0684499740600586, 0.2488499879837036, -4.584499835968018], "goal_radius": 3.0, "reference_path": "[[3.125960111618042, -0.15115001797676086, -19.32819938659668], [1.5827699899673462, -0.1093345582485199, -15.34469985961914], [1.5649199485778809, 0.04884999990463257, -13.573399543762207], [1.6165900230407715, 0.04884999990463257, -11.234700202941895], [1.5573999881744385, 0.15576910972595215, -9.412179946899414], [1.7873200178146362, 0.3210444450378418, -6.643060207366943], [1.0684499740600586, 0.2488499879837036, -4.584499835968018]]", "geodesic_distance": 14.926407814025879, "gt_locations": "[[3.125960111618042, -0.15115001797676086, -19.32819938659668], [2.9843075275421143, -0.15115001797676086, -19.110177993774414], [2.8593075275421143, -0.15115001797676086, -18.8936710357666], [2.794602870941162, -0.15115001797676086, -18.652189254760742], [2.72989821434021, -0.15115001797676086, -18.410707473754883], [2.665193557739258, -0.15115001797676086, -18.169225692749023], [2.6004889011383057, -0.15115001797676086, -17.927743911743164], [2.5357842445373535, -0.15115001797676086, -17.686262130737305], [2.4710795879364014, -0.15115001797676086, -17.444780349731445], [2.406374931335449, -0.15115001797676086, -17.203298568725586], [2.341670274734497, -0.15115001797676086, -16.961816787719727], [2.216670274734497, -0.15115001797676086, -16.745309829711914], [2.091670274734497, -0.15115001797676086, -16.5288028717041], [1.966670274734497, -0.15115001797676086, -16.31229591369629], [1.841670274734497, -0.15115001797676086, -16.095788955688477], [1.7769654989242554, -0.15115001797676086, -15.854307174682617], [1.7122607231140137, -0.14058290421962738, -15.612825393676758], [1.7122607231140137, -0.10752056539058685, -15.362825393676758], [1.7122607231140137, -0.07490700483322144, -15.112825393676758], [1.7122607231140137, -0.07490700483322144, -14.862825393676758], [1.7122607231140137, -0.07427304983139038, -14.612825393676758], [1.7122607231140137, -0.00018806755542755127, -14.362825393676758], [1.647555947303772, 0.04884999990463257, -14.121343612670898], [1.5828511714935303, 0.04884999990463257, -13.879861831665039], [1.5828511714935303, 0.04884999990463257, -13.629861831665039], [1.5828511714935303, 0.04884999990463257, -13.379861831665039], [1.5828511714935303, 0.04884999990463257, -13.129861831665039], [1.5828511714935303, 0.04884999990463257, -12.879861831665039], [1.5828511714935303, 0.04884999990463257, -12.629861831665039], [1.5828511714935303, 0.04884999990463257, -12.379861831665039], [1.5828511714935303, 0.04884999990463257, -12.129861831665039], [1.5828511714935303, 0.04884999990463257, -11.879861831665039], [1.5828511714935303, 0.04884999990463257, -11.629861831665039], [1.5828511714935303, 0.04884999990463257, -11.379861831665039], [1.5828511714935303, 0.04884999990463257, -11.129861831665039], [1.5828511714935303, 0.04884999990463257, -10.879861831665039], [1.5828511714935303, 0.06210149824619293, -10.629861831665039], [1.5828511714935303, 0.08133222162723541, -10.379861831665039], [1.5828511714935303, 0.1005629450082779, -10.129861831665039], [1.5828511714935303, 0.11979366838932037, -9.879861831665039], [1.5828511714935303, 0.13902437686920166, -9.629861831665039], [1.5828511714935303, 0.15825510025024414, -9.379861831665039], [1.5828511714935303, 0.27917537093162537, -9.129861831665039], [1.5828511714935303, 0.2036673128604889, -8.879861831665039], [1.5828511714935303, 0.20863549411296844, -8.629861831665039], [1.5828511714935303, 0.2136036902666092, -8.379861831665039], [1.5828511714935303, 0.21857187151908875, -8.129861831665039], [1.5828511714935303, 0.2235400676727295, -7.879861831665039], [1.647555947303772, 0.2346721589565277, -7.638380527496338], [1.7122607231140137, 0.24580423533916473, -7.396899223327637], [1.7769654989242554, 0.28523844480514526, -7.1554179191589355], [1.7769654989242554, 0.30759525299072266, -6.9054179191589355], [1.7122607231140137, 0.30069100856781006, -6.663936614990234], [1.647555947303772, 0.2881587743759155, -6.422455310821533], [1.522555947303772, 0.25809192657470703, -6.205948829650879], [1.4578511714935303, 0.2488499879837036, -5.964467525482178], [1.3931463956832886, 0.2488499879837036, -5.722986221313477], [1.3284416198730469, 0.2488499879837036, -5.481504917144775], [1.2637368440628052, 0.2488499879837036, -5.240023612976074], [1.1990320682525635, 0.2488499879837036, -4.998542308807373]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 32, "episode_id": "33", "scene_id": "dhjEzFoUFzH", "instruction": "Walk past fan. Walk past baptismal font. Wait at in-ground baptismal pond. ", "start_position": [3.125960111618042, -0.15115001797676086, -19.32819938659668], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [1.0684499740600586, 0.2488499879837036, -4.584499835968018], "goal_radius": 3.0, "reference_path": "[[3.125960111618042, -0.15115001797676086, -19.32819938659668], [1.5827699899673462, -0.1093345582485199, -15.34469985961914], [1.5649199485778809, 0.04884999990463257, -13.573399543762207], [1.6165900230407715, 0.04884999990463257, -11.234700202941895], [1.5573999881744385, 0.15576910972595215, -9.412179946899414], [1.7873200178146362, 0.3210444450378418, -6.643060207366943], [1.0684499740600586, 0.2488499879837036, -4.584499835968018]]", "geodesic_distance": 14.926407814025879, "gt_locations": "[[3.125960111618042, -0.15115001797676086, -19.32819938659668], [2.9843075275421143, -0.15115001797676086, -19.110177993774414], [2.8593075275421143, -0.15115001797676086, -18.8936710357666], [2.794602870941162, -0.15115001797676086, -18.652189254760742], [2.72989821434021, -0.15115001797676086, -18.410707473754883], [2.665193557739258, -0.15115001797676086, -18.169225692749023], [2.6004889011383057, -0.15115001797676086, -17.927743911743164], [2.5357842445373535, -0.15115001797676086, -17.686262130737305], [2.4710795879364014, -0.15115001797676086, -17.444780349731445], [2.406374931335449, -0.15115001797676086, -17.203298568725586], [2.341670274734497, -0.15115001797676086, -16.961816787719727], [2.216670274734497, -0.15115001797676086, -16.745309829711914], [2.091670274734497, -0.15115001797676086, -16.5288028717041], [1.966670274734497, -0.15115001797676086, -16.31229591369629], [1.841670274734497, -0.15115001797676086, -16.095788955688477], [1.7769654989242554, -0.15115001797676086, -15.854307174682617], [1.7122607231140137, -0.14058290421962738, -15.612825393676758], [1.7122607231140137, -0.10752056539058685, -15.362825393676758], [1.7122607231140137, -0.07490700483322144, -15.112825393676758], [1.7122607231140137, -0.07490700483322144, -14.862825393676758], [1.7122607231140137, -0.07427304983139038, -14.612825393676758], [1.7122607231140137, -0.00018806755542755127, -14.362825393676758], [1.647555947303772, 0.04884999990463257, -14.121343612670898], [1.5828511714935303, 0.04884999990463257, -13.879861831665039], [1.5828511714935303, 0.04884999990463257, -13.629861831665039], [1.5828511714935303, 0.04884999990463257, -13.379861831665039], [1.5828511714935303, 0.04884999990463257, -13.129861831665039], [1.5828511714935303, 0.04884999990463257, -12.879861831665039], [1.5828511714935303, 0.04884999990463257, -12.629861831665039], [1.5828511714935303, 0.04884999990463257, -12.379861831665039], [1.5828511714935303, 0.04884999990463257, -12.129861831665039], [1.5828511714935303, 0.04884999990463257, -11.879861831665039], [1.5828511714935303, 0.04884999990463257, -11.629861831665039], [1.5828511714935303, 0.04884999990463257, -11.379861831665039], [1.5828511714935303, 0.04884999990463257, -11.129861831665039], [1.5828511714935303, 0.04884999990463257, -10.879861831665039], [1.5828511714935303, 0.06210149824619293, -10.629861831665039], [1.5828511714935303, 0.08133222162723541, -10.379861831665039], [1.5828511714935303, 0.1005629450082779, -10.129861831665039], [1.5828511714935303, 0.11979366838932037, -9.879861831665039], [1.5828511714935303, 0.13902437686920166, -9.629861831665039], [1.5828511714935303, 0.15825510025024414, -9.379861831665039], [1.5828511714935303, 0.27917537093162537, -9.129861831665039], [1.5828511714935303, 0.2036673128604889, -8.879861831665039], [1.5828511714935303, 0.20863549411296844, -8.629861831665039], [1.5828511714935303, 0.2136036902666092, -8.379861831665039], [1.5828511714935303, 0.21857187151908875, -8.129861831665039], [1.5828511714935303, 0.2235400676727295, -7.879861831665039], [1.647555947303772, 0.2346721589565277, -7.638380527496338], [1.7122607231140137, 0.24580423533916473, -7.396899223327637], [1.7769654989242554, 0.28523844480514526, -7.1554179191589355], [1.7769654989242554, 0.30759525299072266, -6.9054179191589355], [1.7122607231140137, 0.30069100856781006, -6.663936614990234], [1.647555947303772, 0.2881587743759155, -6.422455310821533], [1.522555947303772, 0.25809192657470703, -6.205948829650879], [1.4578511714935303, 0.2488499879837036, -5.964467525482178], [1.3931463956832886, 0.2488499879837036, -5.722986221313477], [1.3284416198730469, 0.2488499879837036, -5.481504917144775], [1.2637368440628052, 0.2488499879837036, -5.240023612976074], [1.1990320682525635, 0.2488499879837036, -4.998542308807373]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 33, "episode_id": "34", "scene_id": "r47D5H71a5s", "instruction": "Move through pool room door into the sitting area. Move straight through sitting area. Move through door into hallway, turn right, move straight forward down hallway into the locker room. Wait inside locker room. ", "start_position": [9.918350219726562, 0.09863299131393433, -1.3446199893951416], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.0321400165557861, 0.09863299131393433, -9.367389678955078], "goal_radius": 3.0, "reference_path": "[[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [1.7699799537658691, 0.09863299131393433, -3.8942599296569824], [1.6980700492858887, 0.09863299131393433, -5.312399864196777], [1.0321400165557861, 0.09863299131393433, -9.367389678955078]]", "geodesic_distance": 13.641937255859375, "gt_locations": "[[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [9.676868438720703, 0.09863299131393433, -1.4093247652053833], [9.426868438720703, 0.09863299131393433, -1.4093247652053833], [9.176868438720703, 0.09863299131393433, -1.4093247652053833], [8.935386657714844, 0.09863299131393433, -1.474029541015625], [8.693904876708984, 0.09863299131393433, -1.5387343168258667], [8.452423095703125, 0.09863299131393433, -1.6034390926361084], [8.202423095703125, 0.09863299131393433, -1.6034390926361084], [7.952423095703125, 0.09863299131393433, -1.6034390926361084], [7.702423095703125, 0.09863299131393433, -1.6034390926361084], [7.460941791534424, 0.09863299131393433, -1.66814386844635], [7.219460487365723, 0.09863299131393433, -1.7328486442565918], [6.9779791831970215, 0.09863299131393433, -1.7975534200668335], [6.73649787902832, 0.09863299131393433, -1.8622581958770752], [6.495016574859619, 0.09863299131393433, -1.926962971687317], [6.253535270690918, 0.09863299131393433, -1.9916677474975586], [6.003535270690918, 0.09863299131393433, -1.9916677474975586], [5.753535270690918, 0.09863299131393433, -1.9916677474975586], [5.503535270690918, 0.09863299131393433, -1.9916677474975586], [5.262053966522217, 0.09863299131393433, -2.0563724040985107], [5.020572662353516, 0.165497288107872, -2.121077060699463], [4.7790913581848145, 0.16615040600299835, -2.185781717300415], [4.56258487701416, 0.17597350478172302, -2.310781717300415], [4.346078395843506, 0.1857965886592865, -2.435781717300415], [4.129571914672852, 0.19561968743801117, -2.560781717300415], [3.9130654335021973, 0.17801186442375183, -2.685781717300415], [3.696558952331543, 0.13971257209777832, -2.810781717300415], [3.4800524711608887, 0.10141327977180481, -2.935781717300415], [3.2635459899902344, 0.09863299131393433, -3.060781717300415], [3.04703950881958, 0.09863299131393433, -3.185781717300415], [2.830533027648926, 0.09863299131393433, -3.310781717300415], [2.6140265464782715, 0.09863299131393433, -3.435781717300415], [2.397520065307617, 0.09863299131393433, -3.560781717300415], [2.181013584136963, 0.09863299131393433, -3.685781717300415], [2.1163086891174316, 0.09863299131393433, -3.9272632598876953], [1.9913086891174316, 0.09863299131393433, -4.14376974105835], [1.92660391330719, 0.09863299131393433, -4.385251045227051], [1.8618991374969482, 0.09863299131393433, -4.626732349395752], [1.7971943616867065, 0.09863299131393433, -4.868213653564453], [1.7324895858764648, 0.09863299131393433, -5.109694957733154], [1.6677848100662231, 0.09863299131393433, -5.3511762619018555], [1.6030800342559814, 0.09863299131393433, -5.592657566070557], [1.5383752584457397, 0.09863299131393433, -5.834138870239258], [1.473670482635498, 0.09863299131393433, -6.075620174407959], [1.4089657068252563, 0.09863299131393433, -6.31710147857666], [1.4089657068252563, 0.09863299131393433, -6.56710147857666], [1.4089657068252563, 0.09863299131393433, -6.81710147857666], [1.3442609310150146, 0.09863299131393433, -7.058582782745361], [1.279556155204773, 0.09863299131393433, -7.3000640869140625], [1.2148513793945312, 0.09863299131393433, -7.541545391082764], [1.1501466035842896, 0.09863299131393433, -7.783026695251465], [1.0854418277740479, 0.09863299131393433, -8.024508476257324], [1.0718121528625488, 0.09863299131393433, -8.274508476257324], [1.0718121528625488, 0.09863299131393433, -8.524508476257324], [1.0071073770523071, 0.09863299131393433, -8.765990257263184], [1.0071073770523071, 0.09863299131393433, -9.015990257263184]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 34, "episode_id": "35", "scene_id": "r47D5H71a5s", "instruction": "Exit the pool area and walk toward the stairs, enter the hallway to the slight right past the chair, turn right and enter the third door on the left, wait by the lockers. ", "start_position": [9.918350219726562, 0.09863299131393433, -1.3446199893951416], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.0321400165557861, 0.09863299131393433, -9.367389678955078], "goal_radius": 3.0, "reference_path": "[[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [1.7699799537658691, 0.09863299131393433, -3.8942599296569824], [1.6980700492858887, 0.09863299131393433, -5.312399864196777], [1.0321400165557861, 0.09863299131393433, -9.367389678955078]]", "geodesic_distance": 13.641937255859375, "gt_locations": "[[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [9.676868438720703, 0.09863299131393433, -1.4093247652053833], [9.426868438720703, 0.09863299131393433, -1.4093247652053833], [9.176868438720703, 0.09863299131393433, -1.4093247652053833], [8.935386657714844, 0.09863299131393433, -1.474029541015625], [8.693904876708984, 0.09863299131393433, -1.5387343168258667], [8.452423095703125, 0.09863299131393433, -1.6034390926361084], [8.202423095703125, 0.09863299131393433, -1.6034390926361084], [7.952423095703125, 0.09863299131393433, -1.6034390926361084], [7.702423095703125, 0.09863299131393433, -1.6034390926361084], [7.460941791534424, 0.09863299131393433, -1.66814386844635], [7.219460487365723, 0.09863299131393433, -1.7328486442565918], [6.9779791831970215, 0.09863299131393433, -1.7975534200668335], [6.73649787902832, 0.09863299131393433, -1.8622581958770752], [6.495016574859619, 0.09863299131393433, -1.926962971687317], [6.253535270690918, 0.09863299131393433, -1.9916677474975586], [6.003535270690918, 0.09863299131393433, -1.9916677474975586], [5.753535270690918, 0.09863299131393433, -1.9916677474975586], [5.503535270690918, 0.09863299131393433, -1.9916677474975586], [5.262053966522217, 0.09863299131393433, -2.0563724040985107], [5.020572662353516, 0.165497288107872, -2.121077060699463], [4.7790913581848145, 0.16615040600299835, -2.185781717300415], [4.56258487701416, 0.17597350478172302, -2.310781717300415], [4.346078395843506, 0.1857965886592865, -2.435781717300415], [4.129571914672852, 0.19561968743801117, -2.560781717300415], [3.9130654335021973, 0.17801186442375183, -2.685781717300415], [3.696558952331543, 0.13971257209777832, -2.810781717300415], [3.4800524711608887, 0.10141327977180481, -2.935781717300415], [3.2635459899902344, 0.09863299131393433, -3.060781717300415], [3.04703950881958, 0.09863299131393433, -3.185781717300415], [2.830533027648926, 0.09863299131393433, -3.310781717300415], [2.6140265464782715, 0.09863299131393433, -3.435781717300415], [2.397520065307617, 0.09863299131393433, -3.560781717300415], [2.181013584136963, 0.09863299131393433, -3.685781717300415], [2.1163086891174316, 0.09863299131393433, -3.9272632598876953], [1.9913086891174316, 0.09863299131393433, -4.14376974105835], [1.92660391330719, 0.09863299131393433, -4.385251045227051], [1.8618991374969482, 0.09863299131393433, -4.626732349395752], [1.7971943616867065, 0.09863299131393433, -4.868213653564453], [1.7324895858764648, 0.09863299131393433, -5.109694957733154], [1.6677848100662231, 0.09863299131393433, -5.3511762619018555], [1.6030800342559814, 0.09863299131393433, -5.592657566070557], [1.5383752584457397, 0.09863299131393433, -5.834138870239258], [1.473670482635498, 0.09863299131393433, -6.075620174407959], [1.4089657068252563, 0.09863299131393433, -6.31710147857666], [1.4089657068252563, 0.09863299131393433, -6.56710147857666], [1.4089657068252563, 0.09863299131393433, -6.81710147857666], [1.3442609310150146, 0.09863299131393433, -7.058582782745361], [1.279556155204773, 0.09863299131393433, -7.3000640869140625], [1.2148513793945312, 0.09863299131393433, -7.541545391082764], [1.1501466035842896, 0.09863299131393433, -7.783026695251465], [1.0854418277740479, 0.09863299131393433, -8.024508476257324], [1.0718121528625488, 0.09863299131393433, -8.274508476257324], [1.0718121528625488, 0.09863299131393433, -8.524508476257324], [1.0071073770523071, 0.09863299131393433, -8.765990257263184], [1.0071073770523071, 0.09863299131393433, -9.015990257263184]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 35, "episode_id": "36", "scene_id": "r47D5H71a5s", "instruction": "Make a left and walk past the stair case. Walk into the doorway that is next to the short lamp. Make a right and walk past the framed wall art into the locker room. ", "start_position": [9.918350219726562, 0.09863299131393433, -1.3446199893951416], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.0321400165557861, 0.09863299131393433, -9.367389678955078], "goal_radius": 3.0, "reference_path": "[[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [1.7699799537658691, 0.09863299131393433, -3.8942599296569824], [1.6980700492858887, 0.09863299131393433, -5.312399864196777], [1.0321400165557861, 0.09863299131393433, -9.367389678955078]]", "geodesic_distance": 13.641937255859375, "gt_locations": "[[9.918350219726562, 0.09863299131393433, -1.3446199893951416], [9.676868438720703, 0.09863299131393433, -1.4093247652053833], [9.426868438720703, 0.09863299131393433, -1.4093247652053833], [9.176868438720703, 0.09863299131393433, -1.4093247652053833], [8.935386657714844, 0.09863299131393433, -1.474029541015625], [8.693904876708984, 0.09863299131393433, -1.5387343168258667], [8.452423095703125, 0.09863299131393433, -1.6034390926361084], [8.202423095703125, 0.09863299131393433, -1.6034390926361084], [7.952423095703125, 0.09863299131393433, -1.6034390926361084], [7.702423095703125, 0.09863299131393433, -1.6034390926361084], [7.460941791534424, 0.09863299131393433, -1.66814386844635], [7.219460487365723, 0.09863299131393433, -1.7328486442565918], [6.9779791831970215, 0.09863299131393433, -1.7975534200668335], [6.73649787902832, 0.09863299131393433, -1.8622581958770752], [6.495016574859619, 0.09863299131393433, -1.926962971687317], [6.253535270690918, 0.09863299131393433, -1.9916677474975586], [6.003535270690918, 0.09863299131393433, -1.9916677474975586], [5.753535270690918, 0.09863299131393433, -1.9916677474975586], [5.503535270690918, 0.09863299131393433, -1.9916677474975586], [5.262053966522217, 0.09863299131393433, -2.0563724040985107], [5.020572662353516, 0.165497288107872, -2.121077060699463], [4.7790913581848145, 0.16615040600299835, -2.185781717300415], [4.56258487701416, 0.17597350478172302, -2.310781717300415], [4.346078395843506, 0.1857965886592865, -2.435781717300415], [4.129571914672852, 0.19561968743801117, -2.560781717300415], [3.9130654335021973, 0.17801186442375183, -2.685781717300415], [3.696558952331543, 0.13971257209777832, -2.810781717300415], [3.4800524711608887, 0.10141327977180481, -2.935781717300415], [3.2635459899902344, 0.09863299131393433, -3.060781717300415], [3.04703950881958, 0.09863299131393433, -3.185781717300415], [2.830533027648926, 0.09863299131393433, -3.310781717300415], [2.6140265464782715, 0.09863299131393433, -3.435781717300415], [2.397520065307617, 0.09863299131393433, -3.560781717300415], [2.181013584136963, 0.09863299131393433, -3.685781717300415], [2.1163086891174316, 0.09863299131393433, -3.9272632598876953], [1.9913086891174316, 0.09863299131393433, -4.14376974105835], [1.92660391330719, 0.09863299131393433, -4.385251045227051], [1.8618991374969482, 0.09863299131393433, -4.626732349395752], [1.7971943616867065, 0.09863299131393433, -4.868213653564453], [1.7324895858764648, 0.09863299131393433, -5.109694957733154], [1.6677848100662231, 0.09863299131393433, -5.3511762619018555], [1.6030800342559814, 0.09863299131393433, -5.592657566070557], [1.5383752584457397, 0.09863299131393433, -5.834138870239258], [1.473670482635498, 0.09863299131393433, -6.075620174407959], [1.4089657068252563, 0.09863299131393433, -6.31710147857666], [1.4089657068252563, 0.09863299131393433, -6.56710147857666], [1.4089657068252563, 0.09863299131393433, -6.81710147857666], [1.3442609310150146, 0.09863299131393433, -7.058582782745361], [1.279556155204773, 0.09863299131393433, -7.3000640869140625], [1.2148513793945312, 0.09863299131393433, -7.541545391082764], [1.1501466035842896, 0.09863299131393433, -7.783026695251465], [1.0854418277740479, 0.09863299131393433, -8.024508476257324], [1.0718121528625488, 0.09863299131393433, -8.274508476257324], [1.0718121528625488, 0.09863299131393433, -8.524508476257324], [1.0071073770523071, 0.09863299131393433, -8.765990257263184], [1.0071073770523071, 0.09863299131393433, -9.015990257263184]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 36, "episode_id": "37", "scene_id": "D7N2EKCX4Sj", "instruction": "With the bed on your left go forward and out of the room into the hallway. In the hallway take a right and go down the hall, keeping straight. Then take a right into the bedroom that is the first door on your right. Stop in the room just past the door on the inside of the doorway. ", "start_position": [9.386670112609863, 0.20792198181152344, 1.9203399419784546], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [7.48360013961792, 0.007922172546386719, -2.137239933013916], "goal_radius": 3.0, "reference_path": "[[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [7.373179912567139, 0.007922172546386719, 1.4917500019073486], [7.0871500968933105, 0.007922172546386719, 1.4814800024032593], [6.163010120391846, 0.007922172546386719, -0.3640669882297516], [7.0947699546813965, 0.007922172546386719, -2.0902299880981445], [7.48360013961792, 0.007922172546386719, -2.137239933013916]]", "geodesic_distance": 6.367184638977051, "gt_locations": "[[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [9.145188331604004, 0.19489598274230957, 1.855635166168213], [8.903706550598145, 0.16865554451942444, 1.7909303903579712], [8.662224769592285, 0.14241507649421692, 1.7262256145477295], [8.420742988586426, 0.08201560378074646, 1.6615208387374878], [8.179261207580566, 0.007922172546386719, 1.596816062927246], [7.937779903411865, 0.007922172546386719, 1.5321112871170044], [7.687779903411865, 0.007922172546386719, 1.5321112871170044], [7.437779903411865, 0.007922172546386719, 1.5321112871170044], [7.221273422241211, 0.007922172546386719, 1.4071112871170044], [7.044496536254883, 0.007922172546386719, 1.2303345203399658], [6.8619866371154785, 0.007922172546386719, 1.052168369293213], [6.7369866371154785, 0.007922172546386719, 0.8356620073318481], [6.6119866371154785, 0.007922172546386719, 0.6191556453704834], [6.4869866371154785, 0.007922172546386719, 0.40264928340911865], [6.3619866371154785, 0.007922172546386719, 0.1861429214477539], [6.297281742095947, 0.007922172546386719, -0.055338531732559204], [6.3619866371154785, 0.007922172546386719, -0.2968199849128723], [6.42669153213501, 0.007922172546386719, -0.5383014678955078], [6.491396427154541, 0.007922172546386719, -0.7797828912734985], [6.556101322174072, 0.007922172546386719, -1.0212643146514893], [6.6208062171936035, 0.007922172546386719, -1.26274573802948], [6.7458062171936035, 0.007922172546386719, -1.4792520999908447], [6.866164684295654, 0.007922172546386719, -1.698852777481079], [7.082671165466309, 0.007922172546386719, -1.823852777481079], [7.299177646636963, 0.007922172546386719, -1.948852777481079]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 0]"}
{"id": 37, "episode_id": "38", "scene_id": "D7N2EKCX4Sj", "instruction": "Make a left and stand in the door way to the hall. Make another left in the hall. Make another left into the room next door. ", "start_position": [9.386670112609863, 0.20792198181152344, 1.9203399419784546], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [7.48360013961792, 0.007922172546386719, -2.137239933013916], "goal_radius": 3.0, "reference_path": "[[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [7.373179912567139, 0.007922172546386719, 1.4917500019073486], [7.0871500968933105, 0.007922172546386719, 1.4814800024032593], [6.163010120391846, 0.007922172546386719, -0.3640669882297516], [7.0947699546813965, 0.007922172546386719, -2.0902299880981445], [7.48360013961792, 0.007922172546386719, -2.137239933013916]]", "geodesic_distance": 6.367184638977051, "gt_locations": "[[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [9.145188331604004, 0.19489598274230957, 1.855635166168213], [8.903706550598145, 0.16865554451942444, 1.7909303903579712], [8.662224769592285, 0.14241507649421692, 1.7262256145477295], [8.420742988586426, 0.08201560378074646, 1.6615208387374878], [8.179261207580566, 0.007922172546386719, 1.596816062927246], [7.937779903411865, 0.007922172546386719, 1.5321112871170044], [7.687779903411865, 0.007922172546386719, 1.5321112871170044], [7.437779903411865, 0.007922172546386719, 1.5321112871170044], [7.221273422241211, 0.007922172546386719, 1.4071112871170044], [7.044496536254883, 0.007922172546386719, 1.2303345203399658], [6.8619866371154785, 0.007922172546386719, 1.052168369293213], [6.7369866371154785, 0.007922172546386719, 0.8356620073318481], [6.6119866371154785, 0.007922172546386719, 0.6191556453704834], [6.4869866371154785, 0.007922172546386719, 0.40264928340911865], [6.3619866371154785, 0.007922172546386719, 0.1861429214477539], [6.297281742095947, 0.007922172546386719, -0.055338531732559204], [6.3619866371154785, 0.007922172546386719, -0.2968199849128723], [6.42669153213501, 0.007922172546386719, -0.5383014678955078], [6.491396427154541, 0.007922172546386719, -0.7797828912734985], [6.556101322174072, 0.007922172546386719, -1.0212643146514893], [6.6208062171936035, 0.007922172546386719, -1.26274573802948], [6.7458062171936035, 0.007922172546386719, -1.4792520999908447], [6.866164684295654, 0.007922172546386719, -1.698852777481079], [7.082671165466309, 0.007922172546386719, -1.823852777481079], [7.299177646636963, 0.007922172546386719, -1.948852777481079]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 0]"}
{"id": 38, "episode_id": "39", "scene_id": "D7N2EKCX4Sj", "instruction": "Turn around, go past the bed, out the door and to the right.  Go into the next door on the right.  You'll see a snowman quilt on the bed.  Wait right there. ", "start_position": [9.386670112609863, 0.20792198181152344, 1.9203399419784546], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [7.48360013961792, 0.007922172546386719, -2.137239933013916], "goal_radius": 3.0, "reference_path": "[[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [7.373179912567139, 0.007922172546386719, 1.4917500019073486], [7.0871500968933105, 0.007922172546386719, 1.4814800024032593], [6.163010120391846, 0.007922172546386719, -0.3640669882297516], [7.0947699546813965, 0.007922172546386719, -2.0902299880981445], [7.48360013961792, 0.007922172546386719, -2.137239933013916]]", "geodesic_distance": 6.367184638977051, "gt_locations": "[[9.386670112609863, 0.20792198181152344, 1.9203399419784546], [9.145188331604004, 0.19489598274230957, 1.855635166168213], [8.903706550598145, 0.16865554451942444, 1.7909303903579712], [8.662224769592285, 0.14241507649421692, 1.7262256145477295], [8.420742988586426, 0.08201560378074646, 1.6615208387374878], [8.179261207580566, 0.007922172546386719, 1.596816062927246], [7.937779903411865, 0.007922172546386719, 1.5321112871170044], [7.687779903411865, 0.007922172546386719, 1.5321112871170044], [7.437779903411865, 0.007922172546386719, 1.5321112871170044], [7.221273422241211, 0.007922172546386719, 1.4071112871170044], [7.044496536254883, 0.007922172546386719, 1.2303345203399658], [6.8619866371154785, 0.007922172546386719, 1.052168369293213], [6.7369866371154785, 0.007922172546386719, 0.8356620073318481], [6.6119866371154785, 0.007922172546386719, 0.6191556453704834], [6.4869866371154785, 0.007922172546386719, 0.40264928340911865], [6.3619866371154785, 0.007922172546386719, 0.1861429214477539], [6.297281742095947, 0.007922172546386719, -0.055338531732559204], [6.3619866371154785, 0.007922172546386719, -0.2968199849128723], [6.42669153213501, 0.007922172546386719, -0.5383014678955078], [6.491396427154541, 0.007922172546386719, -0.7797828912734985], [6.556101322174072, 0.007922172546386719, -1.0212643146514893], [6.6208062171936035, 0.007922172546386719, -1.26274573802948], [6.7458062171936035, 0.007922172546386719, -1.4792520999908447], [6.866164684295654, 0.007922172546386719, -1.698852777481079], [7.082671165466309, 0.007922172546386719, -1.823852777481079], [7.299177646636963, 0.007922172546386719, -1.948852777481079]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 0]"}
{"id": 39, "episode_id": "40", "scene_id": "29hnd4uzFmX", "instruction": "Walk through the kitchen passed the sink. Turn the corner to the left and walk into the room with wooden walls that is completely empty except for a ceiling lamp. ", "start_position": [-6.422450065612793, -0.2089579850435257, -6.193950176239014], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.6310480237007141, -0.2089579850435257, -4.3048200607299805], "goal_radius": 3.0, "reference_path": "[[-6.422450065612793, -0.2089579850435257, -6.193950176239014], [-5.7541399002075195, -0.2089579850435257, -5.362880229949951], [-5.09867000579834, -0.2089579850435257, -4.618750095367432], [-1.5323200225830078, -0.2089579850435257, -3.788870096206665], [-0.6310480237007141, -0.2089579850435257, -4.3048200607299805]]", "geodesic_distance": 6.6311235427856445, "gt_locations": "[[-6.422450065612793, -0.2089579850435257, -6.193950176239014], [-6.245673179626465, -0.2089579850435257, -6.0171732902526855], [-6.068896293640137, -0.2089579850435257, -5.840396404266357], [-5.943896293640137, -0.2089579850435257, -5.623889923095703], [-5.767119407653809, -0.2089579850435257, -5.447113037109375], [-5.642119407653809, -0.2089579850435257, -5.230606555938721], [-5.517119407653809, -0.2089579850435257, -5.014100074768066], [-5.3403425216674805, -0.2089579850435257, -4.837323188781738], [-5.163565635681152, -0.2089579850435257, -4.66054630279541], [-4.947059154510498, -0.2089579850435257, -4.53554630279541], [-4.730552673339844, -0.2089579850435257, -4.41054630279541], [-4.553775787353516, -0.2089579850435257, -4.233769416809082], [-4.3122944831848145, -0.2089579850435257, -4.169064521789551], [-4.070813179016113, -0.2089579850435257, -4.1043596267700195], [-3.829331636428833, -0.2089579850435257, -4.039654731750488], [-3.5878500938415527, -0.2089579850435257, -3.974949836730957], [-3.3463685512542725, -0.2089579850435257, -3.910244941711426], [-3.0963685512542725, -0.2089579850435257, -3.910244941711426], [-2.8463685512542725, -0.2089579850435257, -3.910244941711426], [-2.5963685512542725, -0.2089579850435257, -3.910244941711426], [-2.3463685512542725, -0.2089579850435257, -3.910244941711426], [-2.0963685512542725, -0.2089579850435257, -3.910244941711426], [-1.8548871278762817, -0.2089579850435257, -3.8455400466918945], [-1.6134055852890015, -0.2089579850435257, -3.9102447032928467], [-1.3719240427017212, -0.2089579850435257, -3.974949359893799], [-1.130442500114441, -0.2089579850435257, -4.03965425491333], [-0.9139361381530762, -0.2089579850435257, -4.16465425491333]]", "gt_actions": "[3, 1, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 2, 1, 0]"}
{"id": 40, "episode_id": "41", "scene_id": "29hnd4uzFmX", "instruction": "Go straight across the room, then into the third door to your left. ", "start_position": [-6.422450065612793, -0.2089579850435257, -6.193950176239014], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.6310480237007141, -0.2089579850435257, -4.3048200607299805], "goal_radius": 3.0, "reference_path": "[[-6.422450065612793, -0.2089579850435257, -6.193950176239014], [-5.7541399002075195, -0.2089579850435257, -5.362880229949951], [-5.09867000579834, -0.2089579850435257, -4.618750095367432], [-1.5323200225830078, -0.2089579850435257, -3.788870096206665], [-0.6310480237007141, -0.2089579850435257, -4.3048200607299805]]", "geodesic_distance": 6.6311235427856445, "gt_locations": "[[-6.422450065612793, -0.2089579850435257, -6.193950176239014], [-6.245673179626465, -0.2089579850435257, -6.0171732902526855], [-6.068896293640137, -0.2089579850435257, -5.840396404266357], [-5.943896293640137, -0.2089579850435257, -5.623889923095703], [-5.767119407653809, -0.2089579850435257, -5.447113037109375], [-5.642119407653809, -0.2089579850435257, -5.230606555938721], [-5.517119407653809, -0.2089579850435257, -5.014100074768066], [-5.3403425216674805, -0.2089579850435257, -4.837323188781738], [-5.163565635681152, -0.2089579850435257, -4.66054630279541], [-4.947059154510498, -0.2089579850435257, -4.53554630279541], [-4.730552673339844, -0.2089579850435257, -4.41054630279541], [-4.553775787353516, -0.2089579850435257, -4.233769416809082], [-4.3122944831848145, -0.2089579850435257, -4.169064521789551], [-4.070813179016113, -0.2089579850435257, -4.1043596267700195], [-3.829331636428833, -0.2089579850435257, -4.039654731750488], [-3.5878500938415527, -0.2089579850435257, -3.974949836730957], [-3.3463685512542725, -0.2089579850435257, -3.910244941711426], [-3.0963685512542725, -0.2089579850435257, -3.910244941711426], [-2.8463685512542725, -0.2089579850435257, -3.910244941711426], [-2.5963685512542725, -0.2089579850435257, -3.910244941711426], [-2.3463685512542725, -0.2089579850435257, -3.910244941711426], [-2.0963685512542725, -0.2089579850435257, -3.910244941711426], [-1.8548871278762817, -0.2089579850435257, -3.8455400466918945], [-1.6134055852890015, -0.2089579850435257, -3.9102447032928467], [-1.3719240427017212, -0.2089579850435257, -3.974949359893799], [-1.130442500114441, -0.2089579850435257, -4.03965425491333], [-0.9139361381530762, -0.2089579850435257, -4.16465425491333]]", "gt_actions": "[3, 1, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 2, 1, 0]"}
{"id": 41, "episode_id": "42", "scene_id": "29hnd4uzFmX", "instruction": "Walk forward through the kitchen and enter the empty room that is the third door from the left. Stop in the room next to the door. ", "start_position": [-6.422450065612793, -0.2089579850435257, -6.193950176239014], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.6310480237007141, -0.2089579850435257, -4.3048200607299805], "goal_radius": 3.0, "reference_path": "[[-6.422450065612793, -0.2089579850435257, -6.193950176239014], [-5.7541399002075195, -0.2089579850435257, -5.362880229949951], [-5.09867000579834, -0.2089579850435257, -4.618750095367432], [-1.5323200225830078, -0.2089579850435257, -3.788870096206665], [-0.6310480237007141, -0.2089579850435257, -4.3048200607299805]]", "geodesic_distance": 6.6311235427856445, "gt_locations": "[[-6.422450065612793, -0.2089579850435257, -6.193950176239014], [-6.245673179626465, -0.2089579850435257, -6.0171732902526855], [-6.068896293640137, -0.2089579850435257, -5.840396404266357], [-5.943896293640137, -0.2089579850435257, -5.623889923095703], [-5.767119407653809, -0.2089579850435257, -5.447113037109375], [-5.642119407653809, -0.2089579850435257, -5.230606555938721], [-5.517119407653809, -0.2089579850435257, -5.014100074768066], [-5.3403425216674805, -0.2089579850435257, -4.837323188781738], [-5.163565635681152, -0.2089579850435257, -4.66054630279541], [-4.947059154510498, -0.2089579850435257, -4.53554630279541], [-4.730552673339844, -0.2089579850435257, -4.41054630279541], [-4.553775787353516, -0.2089579850435257, -4.233769416809082], [-4.3122944831848145, -0.2089579850435257, -4.169064521789551], [-4.070813179016113, -0.2089579850435257, -4.1043596267700195], [-3.829331636428833, -0.2089579850435257, -4.039654731750488], [-3.5878500938415527, -0.2089579850435257, -3.974949836730957], [-3.3463685512542725, -0.2089579850435257, -3.910244941711426], [-3.0963685512542725, -0.2089579850435257, -3.910244941711426], [-2.8463685512542725, -0.2089579850435257, -3.910244941711426], [-2.5963685512542725, -0.2089579850435257, -3.910244941711426], [-2.3463685512542725, -0.2089579850435257, -3.910244941711426], [-2.0963685512542725, -0.2089579850435257, -3.910244941711426], [-1.8548871278762817, -0.2089579850435257, -3.8455400466918945], [-1.6134055852890015, -0.2089579850435257, -3.9102447032928467], [-1.3719240427017212, -0.2089579850435257, -3.974949359893799], [-1.130442500114441, -0.2089579850435257, -4.03965425491333], [-0.9139361381530762, -0.2089579850435257, -4.16465425491333]]", "gt_actions": "[3, 1, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 2, 1, 0]"}
{"id": 42, "episode_id": "43", "scene_id": "8WUmhLawc2A", "instruction": "Walk through the door and around the table. Turn left and walk to the end of the kitchen bar. Turn right and walk around the chair. Turn left and walk into the small hallway then go into the bedroom. 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{"id": 43, "episode_id": "44", "scene_id": "8WUmhLawc2A", "instruction": "Walk down the hall. Turn right at the table. Turn left between the couch and the kitchen area. Go past the chair into the hall and go through the doorway on the right. Go left of the family photos into the bedroom. Stop just inside the doorway. 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{"id": 44, "episode_id": "45", "scene_id": "8WUmhLawc2A", "instruction": "Go straight towards the kitchen and turn right after the kitchen table.  Walk towards the end table and turn left to walk behind the couch with the kitchen island on your left. Keep going straight beyond the chair on your right.  Facing the pictures on the wall go right, down the hall to the door at the end and walk into the bedroom. 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{"id": 45, "episode_id": "46", "scene_id": "jh4fc5c5qoQ", "instruction": "With the rocking chair at your back go forward on he patio and go down the stairs passing the table on your left and into the porch and take a left into the kitchen through the door on your left  and hang a right going to the white couch stopping at the wall at the edge of the brown rug. ", "start_position": [5.193739891052246, 0.721511960029602, 2.086440086364746], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "goal_radius": 3.0, "reference_path": "[[5.193739891052246, 0.721511960029602, 2.086440086364746], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [14.178600311279297, 0.21307897567749023, -2.5309500694274902]]", "geodesic_distance": 12.54040813446045, "gt_locations": "[[5.193739891052246, 0.721511960029602, 2.086440086364746], [5.435221195220947, 0.6591469645500183, 2.1511449813842773], [5.676702499389648, 0.5483600497245789, 2.2158498764038086], [5.91818380355835, 0.3682025074958801, 2.28055477142334], [6.159665107727051, 0.23060962557792664, 2.345259666442871], [6.401146411895752, 0.18700160086154938, 2.4099645614624023], [6.642627716064453, 0.16596457362174988, 2.4746694564819336], [6.884109020233154, 0.1456061452627182, 2.539374351501465], [7.1255903244018555, 0.11554626375436783, 2.604079246520996], [7.367071628570557, 0.08548639714717865, 2.6687841415405273], [7.608552932739258, 0.05542650446295738, 2.7334890365600586], [7.858552932739258, 0.02168567106127739, 2.7334890365600586], [8.108552932739258, 0.005573004484176636, 2.7334890365600586], [8.358552932739258, 0.005573004484176636, 2.7334890365600586], [8.608552932739258, 0.005573004484176636, 2.7334890365600586], [8.850034713745117, 0.005573004484176636, 2.7981936931610107], [9.100034713745117, 0.005573004484176636, 2.7981936931610107], [9.350034713745117, 0.008657561615109444, 2.7981936931610107], [9.600034713745117, 0.03896057978272438, 2.7981936931610107], [9.850034713745117, 0.06926359981298447, 2.7981936931610107], [10.091516494750977, 0.0639599859714508, 2.7334890365600586], [10.332998275756836, 0.005573004484176636, 2.6687843799591064], [10.574480056762695, 0.005573004484176636, 2.6040797233581543], [10.790986061096191, 0.052868105471134186, 2.4790797233581543], [11.007492065429688, 0.1159898191690445, 2.3540797233581543], [11.223998069763184, 0.1791115254163742, 2.2290797233581543], [11.44050407409668, 0.20557300746440887, 2.1040797233581543], [11.505208969116211, 0.20557300746440887, 1.8625982999801636], [11.569913864135742, 0.20557300746440887, 1.6211168766021729], [11.634618759155273, 0.20557300746440887, 1.3796354532241821], [11.699323654174805, 0.20557300746440887, 1.1381540298461914], [11.764028549194336, 0.18533198535442352, 0.8966725468635559], [11.828733444213867, 0.16435405611991882, 0.6551910638809204], [11.893438339233398, 0.14337614178657532, 0.4137095808982849], [11.95814323425293, 0.12239822745323181, 0.1722281128168106], [12.022848129272461, 0.10400937497615814, -0.0692533552646637], [12.022848129272461, 0.10400938242673874, -0.3192533552646637], [12.022848129272461, 0.10400938242673874, -0.5692533254623413], [11.95814323425293, 0.11479353904724121, -0.810734748840332], [12.022848129272461, 0.1675877720117569, -1.0522161722183228], [12.147848129272461, 0.17604318261146545, -1.2687225341796875], [12.272848129272461, 0.11408204585313797, -1.4852288961410522], [12.379033088684082, 0.05382014811038971, -1.7105154991149902], [12.507562637329102, 0.005573004484176636, -1.9355393648147583], [12.632562637329102, 0.005573004484176636, -2.152045726776123], [12.757562637329102, 0.005573004484176636, -2.3685522079467773], [12.995088577270508, 0.0055732447654008865, -2.4965436458587646], [13.236570358276367, 0.08865275979042053, -2.561248540878296], [13.486570358276367, 0.12313549220561981, -2.561248540878296], [13.736570358276367, 0.11240694671869278, -2.561248540878296]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 3, 3, 1, 3, 1, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 0]"}
{"id": 46, "episode_id": "47", "scene_id": "jh4fc5c5qoQ", "instruction": "Walk through the outdoors deck area towards the open door beside the stair leading into the yard. Walk inside the home and continue around the corner into the living room area near the kitchen sink counter top. ", "start_position": [5.193739891052246, 0.721511960029602, 2.086440086364746], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "goal_radius": 3.0, "reference_path": "[[5.193739891052246, 0.721511960029602, 2.086440086364746], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [14.178600311279297, 0.21307897567749023, -2.5309500694274902]]", "geodesic_distance": 12.54040813446045, "gt_locations": "[[5.193739891052246, 0.721511960029602, 2.086440086364746], [5.435221195220947, 0.6591469645500183, 2.1511449813842773], [5.676702499389648, 0.5483600497245789, 2.2158498764038086], [5.91818380355835, 0.3682025074958801, 2.28055477142334], [6.159665107727051, 0.23060962557792664, 2.345259666442871], [6.401146411895752, 0.18700160086154938, 2.4099645614624023], [6.642627716064453, 0.16596457362174988, 2.4746694564819336], [6.884109020233154, 0.1456061452627182, 2.539374351501465], [7.1255903244018555, 0.11554626375436783, 2.604079246520996], [7.367071628570557, 0.08548639714717865, 2.6687841415405273], [7.608552932739258, 0.05542650446295738, 2.7334890365600586], [7.858552932739258, 0.02168567106127739, 2.7334890365600586], [8.108552932739258, 0.005573004484176636, 2.7334890365600586], [8.358552932739258, 0.005573004484176636, 2.7334890365600586], [8.608552932739258, 0.005573004484176636, 2.7334890365600586], [8.850034713745117, 0.005573004484176636, 2.7981936931610107], [9.100034713745117, 0.005573004484176636, 2.7981936931610107], [9.350034713745117, 0.008657561615109444, 2.7981936931610107], [9.600034713745117, 0.03896057978272438, 2.7981936931610107], [9.850034713745117, 0.06926359981298447, 2.7981936931610107], [10.091516494750977, 0.0639599859714508, 2.7334890365600586], [10.332998275756836, 0.005573004484176636, 2.6687843799591064], [10.574480056762695, 0.005573004484176636, 2.6040797233581543], [10.790986061096191, 0.052868105471134186, 2.4790797233581543], [11.007492065429688, 0.1159898191690445, 2.3540797233581543], [11.223998069763184, 0.1791115254163742, 2.2290797233581543], [11.44050407409668, 0.20557300746440887, 2.1040797233581543], [11.505208969116211, 0.20557300746440887, 1.8625982999801636], [11.569913864135742, 0.20557300746440887, 1.6211168766021729], [11.634618759155273, 0.20557300746440887, 1.3796354532241821], [11.699323654174805, 0.20557300746440887, 1.1381540298461914], [11.764028549194336, 0.18533198535442352, 0.8966725468635559], [11.828733444213867, 0.16435405611991882, 0.6551910638809204], [11.893438339233398, 0.14337614178657532, 0.4137095808982849], [11.95814323425293, 0.12239822745323181, 0.1722281128168106], [12.022848129272461, 0.10400937497615814, -0.0692533552646637], [12.022848129272461, 0.10400938242673874, -0.3192533552646637], [12.022848129272461, 0.10400938242673874, -0.5692533254623413], [11.95814323425293, 0.11479353904724121, -0.810734748840332], [12.022848129272461, 0.1675877720117569, -1.0522161722183228], [12.147848129272461, 0.17604318261146545, -1.2687225341796875], [12.272848129272461, 0.11408204585313797, -1.4852288961410522], [12.379033088684082, 0.05382014811038971, -1.7105154991149902], [12.507562637329102, 0.005573004484176636, -1.9355393648147583], [12.632562637329102, 0.005573004484176636, -2.152045726776123], [12.757562637329102, 0.005573004484176636, -2.3685522079467773], [12.995088577270508, 0.0055732447654008865, -2.4965436458587646], [13.236570358276367, 0.08865275979042053, -2.561248540878296], [13.486570358276367, 0.12313549220561981, -2.561248540878296], [13.736570358276367, 0.11240694671869278, -2.561248540878296]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 3, 3, 1, 3, 1, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 0]"}
{"id": 47, "episode_id": "48", "scene_id": "jh4fc5c5qoQ", "instruction": "Walk down the porch steps and walk into the covered porch. Go inside the house and wait in front of the white couch by the window. ", "start_position": [5.193739891052246, 0.721511960029602, 2.086440086364746], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "goal_radius": 3.0, "reference_path": "[[5.193739891052246, 0.721511960029602, 2.086440086364746], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [14.178600311279297, 0.21307897567749023, -2.5309500694274902]]", "geodesic_distance": 12.54040813446045, "gt_locations": "[[5.193739891052246, 0.721511960029602, 2.086440086364746], [5.435221195220947, 0.6591469645500183, 2.1511449813842773], [5.676702499389648, 0.5483600497245789, 2.2158498764038086], [5.91818380355835, 0.3682025074958801, 2.28055477142334], [6.159665107727051, 0.23060962557792664, 2.345259666442871], [6.401146411895752, 0.18700160086154938, 2.4099645614624023], [6.642627716064453, 0.16596457362174988, 2.4746694564819336], [6.884109020233154, 0.1456061452627182, 2.539374351501465], [7.1255903244018555, 0.11554626375436783, 2.604079246520996], [7.367071628570557, 0.08548639714717865, 2.6687841415405273], [7.608552932739258, 0.05542650446295738, 2.7334890365600586], [7.858552932739258, 0.02168567106127739, 2.7334890365600586], [8.108552932739258, 0.005573004484176636, 2.7334890365600586], [8.358552932739258, 0.005573004484176636, 2.7334890365600586], [8.608552932739258, 0.005573004484176636, 2.7334890365600586], [8.850034713745117, 0.005573004484176636, 2.7981936931610107], [9.100034713745117, 0.005573004484176636, 2.7981936931610107], [9.350034713745117, 0.008657561615109444, 2.7981936931610107], [9.600034713745117, 0.03896057978272438, 2.7981936931610107], [9.850034713745117, 0.06926359981298447, 2.7981936931610107], [10.091516494750977, 0.0639599859714508, 2.7334890365600586], [10.332998275756836, 0.005573004484176636, 2.6687843799591064], [10.574480056762695, 0.005573004484176636, 2.6040797233581543], [10.790986061096191, 0.052868105471134186, 2.4790797233581543], [11.007492065429688, 0.1159898191690445, 2.3540797233581543], [11.223998069763184, 0.1791115254163742, 2.2290797233581543], [11.44050407409668, 0.20557300746440887, 2.1040797233581543], [11.505208969116211, 0.20557300746440887, 1.8625982999801636], [11.569913864135742, 0.20557300746440887, 1.6211168766021729], [11.634618759155273, 0.20557300746440887, 1.3796354532241821], [11.699323654174805, 0.20557300746440887, 1.1381540298461914], [11.764028549194336, 0.18533198535442352, 0.8966725468635559], [11.828733444213867, 0.16435405611991882, 0.6551910638809204], [11.893438339233398, 0.14337614178657532, 0.4137095808982849], [11.95814323425293, 0.12239822745323181, 0.1722281128168106], [12.022848129272461, 0.10400937497615814, -0.0692533552646637], [12.022848129272461, 0.10400938242673874, -0.3192533552646637], [12.022848129272461, 0.10400938242673874, -0.5692533254623413], [11.95814323425293, 0.11479353904724121, -0.810734748840332], [12.022848129272461, 0.1675877720117569, -1.0522161722183228], [12.147848129272461, 0.17604318261146545, -1.2687225341796875], [12.272848129272461, 0.11408204585313797, -1.4852288961410522], [12.379033088684082, 0.05382014811038971, -1.7105154991149902], [12.507562637329102, 0.005573004484176636, -1.9355393648147583], [12.632562637329102, 0.005573004484176636, -2.152045726776123], [12.757562637329102, 0.005573004484176636, -2.3685522079467773], [12.995088577270508, 0.0055732447654008865, -2.4965436458587646], [13.236570358276367, 0.08865275979042053, -2.561248540878296], [13.486570358276367, 0.12313549220561981, -2.561248540878296], [13.736570358276367, 0.11240694671869278, -2.561248540878296]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 3, 3, 1, 3, 1, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 0]"}
{"id": 48, "episode_id": "49", "scene_id": "mJXqzFtmKg4", "instruction": "Walk passed the kitchen table. Turn around the table and walk passed the counter with bar stools. Walk down the hall and stop near the bathroom entrance. ", "start_position": [1.998610019683838, 0.027561381459236145, -2.0969300270080566], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.7941100001335144, 0.003321051597595215, -6.369420051574707], "goal_radius": 3.0, "reference_path": "[[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [0.17030100524425507, 0.003321051597595215, -1.5843000411987305], [-0.767441987991333, 0.003321051597595215, -3.7431600093841553], [-1.5639899969100952, 0.003321051597595215, -5.665830135345459], [-0.7941100001335144, 0.003321051597595215, -6.369420051574707]]", "geodesic_distance": 6.578382968902588, "gt_locations": "[[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [1.7571284770965576, 0.003321051597595215, -2.0322251319885254], [1.5406221151351929, 0.003321051597595215, -1.9072251319885254], [1.2991406917572021, 0.003321051597595215, -1.8425203561782837], [1.0576592683792114, 0.003321051597595215, -1.777815580368042], [0.8161778450012207, 0.003321051597595215, -1.7131108045578003], [0.57469642162323, 0.003321051597595215, -1.6484060287475586], [0.4496963918209076, 0.003321051597595215, -1.8649123907089233], [0.3246963620185852, 0.003321051597595215, -2.081418752670288], [0.14791962504386902, 0.003321051597595215, -2.258195400238037], [0.015183912590146065, 0.003321051597595215, -2.4708337783813477], [-0.10981611907482147, 0.003321051597595215, -2.687340021133423], [-0.23481614887714386, 0.003321051597595215, -2.903846263885498], [-0.35981619358062744, 0.003321051597595215, -3.1203525066375732], [-0.48481622338294983, 0.003321051597595215, -3.3368587493896484], [-0.6098162531852722, 0.003321051597595215, -3.5533649921417236], [-0.734816312789917, 0.003321051597595215, -3.769871234893799], [-0.859816312789917, 0.003321051597595215, -3.986377477645874], [-0.984816312789917, 0.003321051597595215, -4.202883720397949], [-1.109816312789917, 0.003321051597595215, -4.4193902015686035], [-1.1745210886001587, 0.003321051597595215, -4.660871505737305], [-1.2392258644104004, 0.003321051597595215, -4.902352809906006], [-1.303930640220642, 0.003321051597595215, -5.143834114074707], [-1.428930640220642, 0.003321051597595215, -5.360340595245361], [-1.303930640220642, 0.003321051597595215, -5.576847076416016], [-1.178930640220642, 0.003321051597595215, -5.79335355758667], [-1.1142258644104004, 0.003321051597595215, -6.034834861755371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 0]"}
{"id": 49, "episode_id": "50", "scene_id": "mJXqzFtmKg4", "instruction": "TURN TO THE RIGHT UNTIL YOU THE DINNING TABLE IS ON THE RIGHT AND PILLARS ARE ON THE LEFT, WALK TOWARDS THE END OF THE TABLE, TURN RIGHT SO THE DINNING TABLE IS ON THE RIGHT AND A BREAKFAST BAR IS ON THE LEFT WITH A DOOR WAY IN FRONT OF YOU, WALK THOUGH THE DOORWAY INTO A SHORT HALLWAY, TURN SLIGHTLY TO THE RIGHT TOWARDS A HALL SINK ROOM WITH A PICTURE OF A SAILBOAT ON THE WALL. ", "start_position": [1.998610019683838, 0.027561381459236145, -2.0969300270080566], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.7941100001335144, 0.003321051597595215, -6.369420051574707], "goal_radius": 3.0, "reference_path": "[[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [0.17030100524425507, 0.003321051597595215, -1.5843000411987305], [-0.767441987991333, 0.003321051597595215, -3.7431600093841553], [-1.5639899969100952, 0.003321051597595215, -5.665830135345459], [-0.7941100001335144, 0.003321051597595215, -6.369420051574707]]", "geodesic_distance": 6.578382968902588, "gt_locations": "[[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [1.7571284770965576, 0.003321051597595215, -2.0322251319885254], [1.5406221151351929, 0.003321051597595215, -1.9072251319885254], [1.2991406917572021, 0.003321051597595215, -1.8425203561782837], [1.0576592683792114, 0.003321051597595215, -1.777815580368042], [0.8161778450012207, 0.003321051597595215, -1.7131108045578003], [0.57469642162323, 0.003321051597595215, -1.6484060287475586], [0.4496963918209076, 0.003321051597595215, -1.8649123907089233], [0.3246963620185852, 0.003321051597595215, -2.081418752670288], [0.14791962504386902, 0.003321051597595215, -2.258195400238037], [0.015183912590146065, 0.003321051597595215, -2.4708337783813477], [-0.10981611907482147, 0.003321051597595215, -2.687340021133423], [-0.23481614887714386, 0.003321051597595215, -2.903846263885498], [-0.35981619358062744, 0.003321051597595215, -3.1203525066375732], [-0.48481622338294983, 0.003321051597595215, -3.3368587493896484], [-0.6098162531852722, 0.003321051597595215, -3.5533649921417236], [-0.734816312789917, 0.003321051597595215, -3.769871234893799], [-0.859816312789917, 0.003321051597595215, -3.986377477645874], [-0.984816312789917, 0.003321051597595215, -4.202883720397949], [-1.109816312789917, 0.003321051597595215, -4.4193902015686035], [-1.1745210886001587, 0.003321051597595215, -4.660871505737305], [-1.2392258644104004, 0.003321051597595215, -4.902352809906006], [-1.303930640220642, 0.003321051597595215, -5.143834114074707], [-1.428930640220642, 0.003321051597595215, -5.360340595245361], [-1.303930640220642, 0.003321051597595215, -5.576847076416016], [-1.178930640220642, 0.003321051597595215, -5.79335355758667], [-1.1142258644104004, 0.003321051597595215, -6.034834861755371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 0]"}
{"id": 50, "episode_id": "51", "scene_id": "mJXqzFtmKg4", "instruction": "turn right towards hallway out of kitchen in hallway turn right to bathroom, stop in doorway facing sink. ", "start_position": [1.998610019683838, 0.027561381459236145, -2.0969300270080566], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.7941100001335144, 0.003321051597595215, -6.369420051574707], "goal_radius": 3.0, "reference_path": "[[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [0.17030100524425507, 0.003321051597595215, -1.5843000411987305], [-0.767441987991333, 0.003321051597595215, -3.7431600093841553], [-1.5639899969100952, 0.003321051597595215, -5.665830135345459], [-0.7941100001335144, 0.003321051597595215, -6.369420051574707]]", "geodesic_distance": 6.578382968902588, "gt_locations": "[[1.998610019683838, 0.027561381459236145, -2.0969300270080566], [1.7571284770965576, 0.003321051597595215, -2.0322251319885254], [1.5406221151351929, 0.003321051597595215, -1.9072251319885254], [1.2991406917572021, 0.003321051597595215, -1.8425203561782837], [1.0576592683792114, 0.003321051597595215, -1.777815580368042], [0.8161778450012207, 0.003321051597595215, -1.7131108045578003], [0.57469642162323, 0.003321051597595215, -1.6484060287475586], [0.4496963918209076, 0.003321051597595215, -1.8649123907089233], [0.3246963620185852, 0.003321051597595215, -2.081418752670288], [0.14791962504386902, 0.003321051597595215, -2.258195400238037], [0.015183912590146065, 0.003321051597595215, -2.4708337783813477], [-0.10981611907482147, 0.003321051597595215, -2.687340021133423], [-0.23481614887714386, 0.003321051597595215, -2.903846263885498], [-0.35981619358062744, 0.003321051597595215, -3.1203525066375732], [-0.48481622338294983, 0.003321051597595215, -3.3368587493896484], [-0.6098162531852722, 0.003321051597595215, -3.5533649921417236], [-0.734816312789917, 0.003321051597595215, -3.769871234893799], [-0.859816312789917, 0.003321051597595215, -3.986377477645874], [-0.984816312789917, 0.003321051597595215, -4.202883720397949], [-1.109816312789917, 0.003321051597595215, -4.4193902015686035], [-1.1745210886001587, 0.003321051597595215, -4.660871505737305], [-1.2392258644104004, 0.003321051597595215, -4.902352809906006], [-1.303930640220642, 0.003321051597595215, -5.143834114074707], [-1.428930640220642, 0.003321051597595215, -5.360340595245361], [-1.303930640220642, 0.003321051597595215, -5.576847076416016], [-1.178930640220642, 0.003321051597595215, -5.79335355758667], [-1.1142258644104004, 0.003321051597595215, -6.034834861755371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 0]"}
{"id": 51, "episode_id": "52", "scene_id": "8WUmhLawc2A", "instruction": "Walk straight toward the wall. As you approach the wall, veer to the left, toward the bedroom. Stop by the entrance to the bedroom. ", "start_position": [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.37103009223938, 0.10065700113773346, 3.0904901027679443], "goal_radius": 3.0, "reference_path": "[[-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.54449987411499, 0.10065700113773346, -2.2257299423217773], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-4.468389987945557, 0.10065700113773346, 0.7365990281105042], [-3.37103009223938, 0.10065700113773346, 3.0904901027679443]]", "geodesic_distance": 6.737639427185059, "gt_locations": "[[-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.561930179595947, 0.10065700113773346, -3.2572898864746094], [-4.561930179595947, 0.10065700113773346, -3.0072898864746094], [-4.561930179595947, 0.10065700113773346, -2.7572898864746094], [-4.561930179595947, 0.10065700113773346, -2.5072898864746094], [-4.561930179595947, 0.10065700113773346, -2.2572898864746094], [-4.561930179595947, 0.10065700113773346, -2.0072898864746094], [-4.561930179595947, 0.10065700113773346, -1.7572898864746094], [-4.561930179595947, 0.10065700113773346, -1.5072898864746094], [-4.561930179595947, 0.10065700113773346, -1.2572898864746094], [-4.561930179595947, 0.10065700113773346, -1.0072898864746094], [-4.497225284576416, 0.10065700113773346, -0.7658084034919739], [-4.497225284576416, 0.10065700113773346, -0.5158084034919739], [-4.497225284576416, 0.10065700113773346, -0.2658084034919739], [-4.497225284576416, 0.10065700113773346, -0.015808403491973877], [-4.497225284576416, 0.10065700113773346, 0.23419159650802612], [-4.497225284576416, 0.10065700113773346, 0.4841915965080261], [-4.432520389556885, 0.10065700113773346, 0.7256730794906616], [-4.3678154945373535, 0.10065700113773346, 0.9671545624732971], [-4.2428154945373535, 0.10065700113773346, 1.1836609840393066], [-4.1178154945373535, 0.10065700113773346, 1.4001673460006714], [-3.9928154945373535, 0.10065700113773346, 1.6166737079620361], [-3.8678154945373535, 0.10065700113773346, 1.8331800699234009], [-3.7428154945373535, 0.10065700113773346, 2.0496864318847656], [-3.6178154945373535, 0.10065700113773346, 2.26619291305542], [-3.5531108379364014, 0.10065700113773346, 2.507674217224121], [-3.488406181335449, 0.10065700113773346, 2.7491555213928223]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 52, "episode_id": "53", "scene_id": "8WUmhLawc2A", "instruction": "Walk past the living room into small hall area. Enter the bedroom straight ahead and wait in the doorway. ", "start_position": [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.37103009223938, 0.10065700113773346, 3.0904901027679443], "goal_radius": 3.0, "reference_path": "[[-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.54449987411499, 0.10065700113773346, -2.2257299423217773], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-4.468389987945557, 0.10065700113773346, 0.7365990281105042], [-3.37103009223938, 0.10065700113773346, 3.0904901027679443]]", "geodesic_distance": 6.737639427185059, "gt_locations": "[[-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.561930179595947, 0.10065700113773346, -3.2572898864746094], [-4.561930179595947, 0.10065700113773346, -3.0072898864746094], [-4.561930179595947, 0.10065700113773346, -2.7572898864746094], [-4.561930179595947, 0.10065700113773346, -2.5072898864746094], [-4.561930179595947, 0.10065700113773346, -2.2572898864746094], [-4.561930179595947, 0.10065700113773346, -2.0072898864746094], [-4.561930179595947, 0.10065700113773346, -1.7572898864746094], [-4.561930179595947, 0.10065700113773346, -1.5072898864746094], [-4.561930179595947, 0.10065700113773346, -1.2572898864746094], [-4.561930179595947, 0.10065700113773346, -1.0072898864746094], [-4.497225284576416, 0.10065700113773346, -0.7658084034919739], [-4.497225284576416, 0.10065700113773346, -0.5158084034919739], [-4.497225284576416, 0.10065700113773346, -0.2658084034919739], [-4.497225284576416, 0.10065700113773346, -0.015808403491973877], [-4.497225284576416, 0.10065700113773346, 0.23419159650802612], [-4.497225284576416, 0.10065700113773346, 0.4841915965080261], [-4.432520389556885, 0.10065700113773346, 0.7256730794906616], [-4.3678154945373535, 0.10065700113773346, 0.9671545624732971], [-4.2428154945373535, 0.10065700113773346, 1.1836609840393066], [-4.1178154945373535, 0.10065700113773346, 1.4001673460006714], [-3.9928154945373535, 0.10065700113773346, 1.6166737079620361], [-3.8678154945373535, 0.10065700113773346, 1.8331800699234009], [-3.7428154945373535, 0.10065700113773346, 2.0496864318847656], [-3.6178154945373535, 0.10065700113773346, 2.26619291305542], [-3.5531108379364014, 0.10065700113773346, 2.507674217224121], [-3.488406181335449, 0.10065700113773346, 2.7491555213928223]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 53, "episode_id": "54", "scene_id": "8WUmhLawc2A", "instruction": "walk past the living room into the hallway. take a left then walk into the bedroom and wait by the bed. ", "start_position": [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.37103009223938, 0.10065700113773346, 3.0904901027679443], "goal_radius": 3.0, "reference_path": "[[-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.54449987411499, 0.10065700113773346, -2.2257299423217773], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-4.468389987945557, 0.10065700113773346, 0.7365990281105042], [-3.37103009223938, 0.10065700113773346, 3.0904901027679443]]", "geodesic_distance": 6.737639427185059, "gt_locations": "[[-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.561930179595947, 0.10065700113773346, -3.2572898864746094], [-4.561930179595947, 0.10065700113773346, -3.0072898864746094], [-4.561930179595947, 0.10065700113773346, -2.7572898864746094], [-4.561930179595947, 0.10065700113773346, -2.5072898864746094], [-4.561930179595947, 0.10065700113773346, -2.2572898864746094], [-4.561930179595947, 0.10065700113773346, -2.0072898864746094], [-4.561930179595947, 0.10065700113773346, -1.7572898864746094], [-4.561930179595947, 0.10065700113773346, -1.5072898864746094], [-4.561930179595947, 0.10065700113773346, -1.2572898864746094], [-4.561930179595947, 0.10065700113773346, -1.0072898864746094], [-4.497225284576416, 0.10065700113773346, -0.7658084034919739], [-4.497225284576416, 0.10065700113773346, -0.5158084034919739], [-4.497225284576416, 0.10065700113773346, -0.2658084034919739], [-4.497225284576416, 0.10065700113773346, -0.015808403491973877], [-4.497225284576416, 0.10065700113773346, 0.23419159650802612], [-4.497225284576416, 0.10065700113773346, 0.4841915965080261], [-4.432520389556885, 0.10065700113773346, 0.7256730794906616], [-4.3678154945373535, 0.10065700113773346, 0.9671545624732971], [-4.2428154945373535, 0.10065700113773346, 1.1836609840393066], [-4.1178154945373535, 0.10065700113773346, 1.4001673460006714], [-3.9928154945373535, 0.10065700113773346, 1.6166737079620361], [-3.8678154945373535, 0.10065700113773346, 1.8331800699234009], [-3.7428154945373535, 0.10065700113773346, 2.0496864318847656], [-3.6178154945373535, 0.10065700113773346, 2.26619291305542], [-3.5531108379364014, 0.10065700113773346, 2.507674217224121], [-3.488406181335449, 0.10065700113773346, 2.7491555213928223]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 54, "episode_id": "55", "scene_id": "uNb9QFRL6hY", "instruction": "Turn 180 degrees so that the sunken seating area is on your left and the stairs going up are to your right. Proceed forward a short distance in the direction of the double doors, passing two arm-less white chairs. Stop just after passing the second white chair and before you enter the room with the double doors. There will be an opening leading to a dining area directly to the right and a seating area with white chairs and a circular coffee table directly to the left. Stop. ", "start_position": [-4.907450199127197, -0.34486740827560425, -10.053099632263184], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-10.77910041809082, -0.43845486640930176, -10.013799667358398], "goal_radius": 3.0, "reference_path": "[[-4.907450199127197, -0.34486740827560425, -10.053099632263184], [-6.198709964752197, -0.43845486640930176, -10.022199630737305], [-7.851570129394531, -0.3895891010761261, -10.036199569702148], [-9.299360275268555, -0.37617722153663635, -10.105199813842773], [-10.77910041809082, -0.43845486640930176, -10.013799667358398]]", "geodesic_distance": 5.872527599334717, "gt_locations": "[[-4.907450199127197, -0.34486740827560425, -10.053099632263184], [-5.157450199127197, -0.3544367849826813, -10.053099632263184], [-5.407450199127197, -0.3640061914920807, -10.053099632263184], [-5.657450199127197, -0.3735755681991577, -10.053099632263184], [-5.907450199127197, -0.4149143695831299, -10.053099632263184], [-6.157450199127197, -0.43845486640930176, -10.053099632263184], [-6.407450199127197, -0.43845486640930176, -10.053099632263184], [-6.657450199127197, -0.38578879833221436, -10.053099632263184], [-6.907450199127197, -0.386697918176651, -10.053099632263184], [-7.157450199127197, -0.38733574748039246, -10.053099632263184], [-7.407450199127197, -0.38733574748039246, -10.053099632263184], [-7.657450199127197, -0.38733574748039246, -10.053099632263184], [-7.907450199127197, -0.38733574748039246, -10.053099632263184], [-8.157449722290039, -0.38733574748039246, -10.053099632263184], [-8.407449722290039, -0.38733574748039246, -10.053099632263184], [-8.657449722290039, -0.38733574748039246, -10.053099632263184], [-8.907449722290039, -0.43443259596824646, -10.053099632263184], [-9.157449722290039, -0.43845486640930176, -10.053099632263184], [-9.407449722290039, -0.38120877742767334, -10.053099632263184], [-9.657449722290039, -0.38339465856552124, -10.053099632263184], [-9.907449722290039, -0.38106727600097656, -10.053099632263184], [-10.157449722290039, -0.3787398934364319, -10.053099632263184], [-10.407449722290039, -0.4054219722747803, -10.053099632263184]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 55, "episode_id": "56", "scene_id": "uNb9QFRL6hY", "instruction": "With the stairs on your right walk down the hallway.walk past the chair on the left and walk towards the hallway. Stop at the last set of stairs halfway past the stairs. ", "start_position": [-4.907450199127197, -0.34486740827560425, -10.053099632263184], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-10.77910041809082, -0.43845486640930176, -10.013799667358398], "goal_radius": 3.0, "reference_path": "[[-4.907450199127197, -0.34486740827560425, -10.053099632263184], [-6.198709964752197, -0.43845486640930176, -10.022199630737305], [-7.851570129394531, -0.3895891010761261, -10.036199569702148], [-9.299360275268555, -0.37617722153663635, -10.105199813842773], [-10.77910041809082, -0.43845486640930176, -10.013799667358398]]", "geodesic_distance": 5.872527599334717, "gt_locations": "[[-4.907450199127197, -0.34486740827560425, -10.053099632263184], [-5.157450199127197, -0.3544367849826813, -10.053099632263184], [-5.407450199127197, -0.3640061914920807, -10.053099632263184], [-5.657450199127197, -0.3735755681991577, -10.053099632263184], [-5.907450199127197, -0.4149143695831299, -10.053099632263184], [-6.157450199127197, -0.43845486640930176, -10.053099632263184], [-6.407450199127197, -0.43845486640930176, -10.053099632263184], [-6.657450199127197, -0.38578879833221436, -10.053099632263184], [-6.907450199127197, -0.386697918176651, -10.053099632263184], [-7.157450199127197, -0.38733574748039246, -10.053099632263184], [-7.407450199127197, -0.38733574748039246, -10.053099632263184], [-7.657450199127197, -0.38733574748039246, -10.053099632263184], [-7.907450199127197, -0.38733574748039246, -10.053099632263184], [-8.157449722290039, -0.38733574748039246, -10.053099632263184], [-8.407449722290039, -0.38733574748039246, -10.053099632263184], [-8.657449722290039, -0.38733574748039246, -10.053099632263184], [-8.907449722290039, -0.43443259596824646, -10.053099632263184], [-9.157449722290039, -0.43845486640930176, -10.053099632263184], [-9.407449722290039, -0.38120877742767334, -10.053099632263184], [-9.657449722290039, -0.38339465856552124, -10.053099632263184], [-9.907449722290039, -0.38106727600097656, -10.053099632263184], [-10.157449722290039, -0.3787398934364319, -10.053099632263184], [-10.407449722290039, -0.4054219722747803, -10.053099632263184]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 56, "episode_id": "57", "scene_id": "uNb9QFRL6hY", "instruction": "Turn around.  Walk down the hall, past the stairs, past the chair.  Stop right there.  Wait. ", "start_position": [-4.907450199127197, -0.34486740827560425, -10.053099632263184], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-10.77910041809082, -0.43845486640930176, -10.013799667358398], "goal_radius": 3.0, "reference_path": "[[-4.907450199127197, -0.34486740827560425, -10.053099632263184], [-6.198709964752197, -0.43845486640930176, -10.022199630737305], [-7.851570129394531, -0.3895891010761261, -10.036199569702148], [-9.299360275268555, -0.37617722153663635, -10.105199813842773], [-10.77910041809082, -0.43845486640930176, -10.013799667358398]]", "geodesic_distance": 5.872527599334717, "gt_locations": "[[-4.907450199127197, -0.34486740827560425, -10.053099632263184], [-5.157450199127197, -0.3544367849826813, -10.053099632263184], [-5.407450199127197, -0.3640061914920807, -10.053099632263184], [-5.657450199127197, -0.3735755681991577, -10.053099632263184], [-5.907450199127197, -0.4149143695831299, -10.053099632263184], [-6.157450199127197, -0.43845486640930176, -10.053099632263184], [-6.407450199127197, -0.43845486640930176, -10.053099632263184], [-6.657450199127197, -0.38578879833221436, -10.053099632263184], [-6.907450199127197, -0.386697918176651, -10.053099632263184], [-7.157450199127197, -0.38733574748039246, -10.053099632263184], [-7.407450199127197, -0.38733574748039246, -10.053099632263184], [-7.657450199127197, -0.38733574748039246, -10.053099632263184], [-7.907450199127197, -0.38733574748039246, -10.053099632263184], [-8.157449722290039, -0.38733574748039246, -10.053099632263184], [-8.407449722290039, -0.38733574748039246, -10.053099632263184], [-8.657449722290039, -0.38733574748039246, -10.053099632263184], [-8.907449722290039, -0.43443259596824646, -10.053099632263184], [-9.157449722290039, -0.43845486640930176, -10.053099632263184], [-9.407449722290039, -0.38120877742767334, -10.053099632263184], [-9.657449722290039, -0.38339465856552124, -10.053099632263184], [-9.907449722290039, -0.38106727600097656, -10.053099632263184], [-10.157449722290039, -0.3787398934364319, -10.053099632263184], [-10.407449722290039, -0.4054219722747803, -10.053099632263184]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 57, "episode_id": "58", "scene_id": "aayBHfsNo7d", "instruction": "Walk into bedroom. Walk past bedroom door. Wait at laundry room door. ", "start_position": [19.443099975585938, 3.628255844116211, 0.8698109984397888], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [9.54751968383789, 3.628255844116211, 3.5028700828552246], "goal_radius": 3.0, "reference_path": "[[19.443099975585938, 3.628255844116211, 0.8698109984397888], [19.53030014038086, 3.628255844116211, 2.7534899711608887], [17.2273006439209, 3.628255844116211, 5.111410140991211], [14.858499526977539, 3.628255844116211, 4.411369800567627], [13.706199645996094, 3.628255844116211, 4.4027099609375], [12.095600128173828, 3.628255844116211, 4.40841007232666], [9.54751968383789, 3.628255844116211, 3.5028700828552246]]", "geodesic_distance": 12.495332717895508, "gt_locations": "[[19.443099975585938, 3.628255844116211, 0.8698109984397888], [19.443099975585938, 3.628255844116211, 1.1198110580444336], [19.443099975585938, 3.628255844116211, 1.3698110580444336], [19.443099975585938, 3.628255844116211, 1.6198110580444336], [19.443099975585938, 3.628255844116211, 1.8698110580444336], [19.443099975585938, 3.628255844116211, 2.1198110580444336], [19.443099975585938, 3.628255844116211, 2.3698110580444336], [19.378395080566406, 3.628255844116211, 2.611292600631714], [19.313690185546875, 3.628255844116211, 2.852774143218994], [19.103580474853516, 3.628255844116211, 3.041748285293579], [18.978580474853516, 3.628255844116211, 3.2582545280456543], [18.801803588867188, 3.628255844116211, 3.4350311756134033], [18.62502670288086, 3.628255844116211, 3.6118078231811523], [18.44824981689453, 3.628255844116211, 3.7885844707489014], [18.271472930908203, 3.628255844116211, 3.9653611183166504], [18.094696044921875, 3.628255844116211, 4.1421380043029785], [17.91672706604004, 3.628255844116211, 4.3284525871276855], [17.79172706604004, 3.628255844116211, 4.54495906829834], [17.61495018005371, 3.628255844116211, 4.721735954284668], [17.438173294067383, 3.628255844116211, 4.898512840270996], [17.196691513061523, 3.628255844116211, 4.833807945251465], [16.955209732055664, 3.628255844116211, 4.769103050231934], [16.713727951049805, 3.628255844116211, 4.704398155212402], [16.472246170043945, 3.628255844116211, 4.639693260192871], [16.230764389038086, 3.628255844116211, 4.57498836517334], [15.989282608032227, 3.628255844116211, 4.510283470153809], [15.739282608032227, 3.628255844116211, 4.510283470153809], [15.489282608032227, 3.628255844116211, 4.510283470153809], [15.239282608032227, 3.628255844116211, 4.510283470153809], [14.989282608032227, 3.628255844116211, 4.510283470153809], [14.739282608032227, 3.628255844116211, 4.510283470153809], [14.489282608032227, 3.628255844116211, 4.510283470153809], [14.239282608032227, 3.628255844116211, 4.510283470153809], [13.997800827026367, 3.628255844116211, 4.445578575134277], [13.747800827026367, 3.628255844116211, 4.445578575134277], [13.497800827026367, 3.628255844116211, 4.445578575134277], [13.247800827026367, 3.628255844116211, 4.445578575134277], [12.997800827026367, 3.628255844116211, 4.445578575134277], [12.747800827026367, 3.628255844116211, 4.445578575134277], [12.497800827026367, 3.628255844116211, 4.445578575134277], [12.256319046020508, 3.628255844116211, 4.380873680114746], [12.014837265014648, 3.628255844116211, 4.316168785095215], [11.773355484008789, 3.628255844116211, 4.251463890075684], [11.53187370300293, 3.628255844116211, 4.186758995056152], [11.29039192199707, 3.628255844116211, 4.122054100036621], [11.048910140991211, 3.628255844116211, 4.05734920501709], [10.807428359985352, 3.628255844116211, 3.9926445484161377], [10.565946578979492, 3.628255844116211, 3.9279398918151855], [10.324464797973633, 3.628255844116211, 3.8632352352142334], [10.082983016967773, 3.628255844116211, 3.7985305786132812], [9.866477012634277, 3.628255844116211, 3.6735305786132812]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 58, "episode_id": "59", "scene_id": "aayBHfsNo7d", "instruction": "Walk through the door by the sink into the middle of the next room. Turn right and walk down the hallway and enter the third door on your right. ", "start_position": [19.443099975585938, 3.628255844116211, 0.8698109984397888], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [9.54751968383789, 3.628255844116211, 3.5028700828552246], "goal_radius": 3.0, "reference_path": "[[19.443099975585938, 3.628255844116211, 0.8698109984397888], [19.53030014038086, 3.628255844116211, 2.7534899711608887], [17.2273006439209, 3.628255844116211, 5.111410140991211], [14.858499526977539, 3.628255844116211, 4.411369800567627], [13.706199645996094, 3.628255844116211, 4.4027099609375], [12.095600128173828, 3.628255844116211, 4.40841007232666], [9.54751968383789, 3.628255844116211, 3.5028700828552246]]", "geodesic_distance": 12.495332717895508, "gt_locations": "[[19.443099975585938, 3.628255844116211, 0.8698109984397888], [19.443099975585938, 3.628255844116211, 1.1198110580444336], [19.443099975585938, 3.628255844116211, 1.3698110580444336], [19.443099975585938, 3.628255844116211, 1.6198110580444336], [19.443099975585938, 3.628255844116211, 1.8698110580444336], [19.443099975585938, 3.628255844116211, 2.1198110580444336], [19.443099975585938, 3.628255844116211, 2.3698110580444336], [19.378395080566406, 3.628255844116211, 2.611292600631714], [19.313690185546875, 3.628255844116211, 2.852774143218994], [19.103580474853516, 3.628255844116211, 3.041748285293579], [18.978580474853516, 3.628255844116211, 3.2582545280456543], [18.801803588867188, 3.628255844116211, 3.4350311756134033], [18.62502670288086, 3.628255844116211, 3.6118078231811523], [18.44824981689453, 3.628255844116211, 3.7885844707489014], [18.271472930908203, 3.628255844116211, 3.9653611183166504], [18.094696044921875, 3.628255844116211, 4.1421380043029785], [17.91672706604004, 3.628255844116211, 4.3284525871276855], [17.79172706604004, 3.628255844116211, 4.54495906829834], [17.61495018005371, 3.628255844116211, 4.721735954284668], [17.438173294067383, 3.628255844116211, 4.898512840270996], [17.196691513061523, 3.628255844116211, 4.833807945251465], [16.955209732055664, 3.628255844116211, 4.769103050231934], [16.713727951049805, 3.628255844116211, 4.704398155212402], [16.472246170043945, 3.628255844116211, 4.639693260192871], [16.230764389038086, 3.628255844116211, 4.57498836517334], [15.989282608032227, 3.628255844116211, 4.510283470153809], [15.739282608032227, 3.628255844116211, 4.510283470153809], [15.489282608032227, 3.628255844116211, 4.510283470153809], [15.239282608032227, 3.628255844116211, 4.510283470153809], [14.989282608032227, 3.628255844116211, 4.510283470153809], [14.739282608032227, 3.628255844116211, 4.510283470153809], [14.489282608032227, 3.628255844116211, 4.510283470153809], [14.239282608032227, 3.628255844116211, 4.510283470153809], [13.997800827026367, 3.628255844116211, 4.445578575134277], [13.747800827026367, 3.628255844116211, 4.445578575134277], [13.497800827026367, 3.628255844116211, 4.445578575134277], [13.247800827026367, 3.628255844116211, 4.445578575134277], [12.997800827026367, 3.628255844116211, 4.445578575134277], [12.747800827026367, 3.628255844116211, 4.445578575134277], [12.497800827026367, 3.628255844116211, 4.445578575134277], [12.256319046020508, 3.628255844116211, 4.380873680114746], [12.014837265014648, 3.628255844116211, 4.316168785095215], [11.773355484008789, 3.628255844116211, 4.251463890075684], [11.53187370300293, 3.628255844116211, 4.186758995056152], [11.29039192199707, 3.628255844116211, 4.122054100036621], [11.048910140991211, 3.628255844116211, 4.05734920501709], [10.807428359985352, 3.628255844116211, 3.9926445484161377], [10.565946578979492, 3.628255844116211, 3.9279398918151855], [10.324464797973633, 3.628255844116211, 3.8632352352142334], [10.082983016967773, 3.628255844116211, 3.7985305786132812], [9.866477012634277, 3.628255844116211, 3.6735305786132812]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 59, "episode_id": "60", "scene_id": "aayBHfsNo7d", "instruction": "Exit the bathroom, turn right, then head straight down the hallway. Stop and wait at the second door on the right. ", "start_position": [19.443099975585938, 3.628255844116211, 0.8698109984397888], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [9.54751968383789, 3.628255844116211, 3.5028700828552246], "goal_radius": 3.0, "reference_path": "[[19.443099975585938, 3.628255844116211, 0.8698109984397888], [19.53030014038086, 3.628255844116211, 2.7534899711608887], [17.2273006439209, 3.628255844116211, 5.111410140991211], [14.858499526977539, 3.628255844116211, 4.411369800567627], [13.706199645996094, 3.628255844116211, 4.4027099609375], [12.095600128173828, 3.628255844116211, 4.40841007232666], [9.54751968383789, 3.628255844116211, 3.5028700828552246]]", "geodesic_distance": 12.495332717895508, "gt_locations": "[[19.443099975585938, 3.628255844116211, 0.8698109984397888], [19.443099975585938, 3.628255844116211, 1.1198110580444336], [19.443099975585938, 3.628255844116211, 1.3698110580444336], [19.443099975585938, 3.628255844116211, 1.6198110580444336], [19.443099975585938, 3.628255844116211, 1.8698110580444336], [19.443099975585938, 3.628255844116211, 2.1198110580444336], [19.443099975585938, 3.628255844116211, 2.3698110580444336], [19.378395080566406, 3.628255844116211, 2.611292600631714], [19.313690185546875, 3.628255844116211, 2.852774143218994], [19.103580474853516, 3.628255844116211, 3.041748285293579], [18.978580474853516, 3.628255844116211, 3.2582545280456543], [18.801803588867188, 3.628255844116211, 3.4350311756134033], [18.62502670288086, 3.628255844116211, 3.6118078231811523], [18.44824981689453, 3.628255844116211, 3.7885844707489014], [18.271472930908203, 3.628255844116211, 3.9653611183166504], [18.094696044921875, 3.628255844116211, 4.1421380043029785], [17.91672706604004, 3.628255844116211, 4.3284525871276855], [17.79172706604004, 3.628255844116211, 4.54495906829834], [17.61495018005371, 3.628255844116211, 4.721735954284668], [17.438173294067383, 3.628255844116211, 4.898512840270996], [17.196691513061523, 3.628255844116211, 4.833807945251465], [16.955209732055664, 3.628255844116211, 4.769103050231934], [16.713727951049805, 3.628255844116211, 4.704398155212402], [16.472246170043945, 3.628255844116211, 4.639693260192871], [16.230764389038086, 3.628255844116211, 4.57498836517334], [15.989282608032227, 3.628255844116211, 4.510283470153809], [15.739282608032227, 3.628255844116211, 4.510283470153809], [15.489282608032227, 3.628255844116211, 4.510283470153809], [15.239282608032227, 3.628255844116211, 4.510283470153809], [14.989282608032227, 3.628255844116211, 4.510283470153809], [14.739282608032227, 3.628255844116211, 4.510283470153809], [14.489282608032227, 3.628255844116211, 4.510283470153809], [14.239282608032227, 3.628255844116211, 4.510283470153809], [13.997800827026367, 3.628255844116211, 4.445578575134277], [13.747800827026367, 3.628255844116211, 4.445578575134277], [13.497800827026367, 3.628255844116211, 4.445578575134277], [13.247800827026367, 3.628255844116211, 4.445578575134277], [12.997800827026367, 3.628255844116211, 4.445578575134277], [12.747800827026367, 3.628255844116211, 4.445578575134277], [12.497800827026367, 3.628255844116211, 4.445578575134277], [12.256319046020508, 3.628255844116211, 4.380873680114746], [12.014837265014648, 3.628255844116211, 4.316168785095215], [11.773355484008789, 3.628255844116211, 4.251463890075684], [11.53187370300293, 3.628255844116211, 4.186758995056152], [11.29039192199707, 3.628255844116211, 4.122054100036621], [11.048910140991211, 3.628255844116211, 4.05734920501709], [10.807428359985352, 3.628255844116211, 3.9926445484161377], [10.565946578979492, 3.628255844116211, 3.9279398918151855], [10.324464797973633, 3.628255844116211, 3.8632352352142334], [10.082983016967773, 3.628255844116211, 3.7985305786132812], [9.866477012634277, 3.628255844116211, 3.6735305786132812]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 60, "episode_id": "61", "scene_id": "S9hNv5qa7GM", "instruction": "With the couch on your right go forward past the table and loves eta and take a right to go around the piano and take a left into the hallway on the left of the stairs if you are facing the stairs and stop in the doorway just inside the hall. ", "start_position": [-13.00100040435791, 0.11627800017595291, 7.484139919281006], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-10.517399787902832, 0.11627800017595291, 0.4167500138282776], "goal_radius": 3.0, "reference_path": "[[-13.00100040435791, 0.11627800017595291, 7.484139919281006], [-13.166999816894531, 0.11627800017595291, 5.388209819793701], [-13.26669979095459, 0.11627800017595291, 2.7534499168395996], [-10.485699653625488, 0.11627800017595291, 1.0772000551223755], [-10.517399787902832, 0.11627800017595291, 0.4167500138282776]]", "geodesic_distance": 8.053403854370117, "gt_locations": "[[-13.00100040435791, 0.11627800017595291, 7.484139919281006], [-13.00100040435791, 0.11627800017595291, 7.234139919281006], [-13.00100040435791, 0.11627800017595291, 6.984139919281006], [-13.00100040435791, 0.11627800017595291, 6.734139919281006], [-13.00100040435791, 0.11627800017595291, 6.484139919281006], [-13.00100040435791, 0.11627800017595291, 6.234139919281006], [-13.065705299377441, 0.11627800017595291, 5.992658615112305], [-13.065705299377441, 0.11627800017595291, 5.742658615112305], [-13.065705299377441, 0.11627800017595291, 5.492658615112305], [-13.065705299377441, 0.11627800017595291, 5.242658615112305], [-13.065705299377441, 0.11627800017595291, 4.992658615112305], [-13.065705299377441, 0.11627800017595291, 4.742658615112305], [-13.065705299377441, 0.11627800017595291, 4.492658615112305], [-13.075654029846191, 0.11627800017595291, 4.242658615112305], [-13.075654029846191, 0.11627800017595291, 3.9926586151123047], [-13.075654029846191, 0.11627800017595291, 3.7426586151123047], [-13.140358924865723, 0.11627800017595291, 3.5011770725250244], [-13.205063819885254, 0.11627800017595291, 3.259695529937744], [-13.269768714904785, 0.11627800017595291, 3.018213987350464], [-13.028286933898926, 0.11627800017595291, 2.9535093307495117], [-12.786805152893066, 0.11627800017595291, 2.8888046741485596], [-12.545323371887207, 0.11627800017595291, 2.8241000175476074], [-12.303841590881348, 0.11627800017595291, 2.7593953609466553], [-12.087335586547852, 0.11627800017595291, 2.6343953609466553], [-11.88131332397461, 0.11627800017595291, 2.47955322265625], [-11.704536437988281, 0.11627800017595291, 2.302776575088501], [-11.527759552001953, 0.11627800017595291, 2.125999927520752], [-11.350982666015625, 0.11627800017595291, 1.949223279953003], [-11.174205780029297, 0.11627800017595291, 1.772446632385254], [-10.997428894042969, 0.11627800017595291, 1.5956699848175049], [-10.82065200805664, 0.11627800017595291, 1.4188933372497559], [-10.75594711303711, 0.11627800017595291, 1.1774119138717651], [-10.691242218017578, 0.11627800017595291, 0.9359304308891296], [-10.566242218017578, 0.11627800017595291, 0.7194240689277649]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 0]"}
{"id": 61, "episode_id": "62", "scene_id": "S9hNv5qa7GM", "instruction": "Walk to piano. Make right. Wait at door next to piano. ", "start_position": [-13.00100040435791, 0.11627800017595291, 7.484139919281006], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-10.517399787902832, 0.11627800017595291, 0.4167500138282776], "goal_radius": 3.0, "reference_path": "[[-13.00100040435791, 0.11627800017595291, 7.484139919281006], [-13.166999816894531, 0.11627800017595291, 5.388209819793701], [-13.26669979095459, 0.11627800017595291, 2.7534499168395996], [-10.485699653625488, 0.11627800017595291, 1.0772000551223755], [-10.517399787902832, 0.11627800017595291, 0.4167500138282776]]", "geodesic_distance": 8.053403854370117, "gt_locations": "[[-13.00100040435791, 0.11627800017595291, 7.484139919281006], [-13.00100040435791, 0.11627800017595291, 7.234139919281006], [-13.00100040435791, 0.11627800017595291, 6.984139919281006], [-13.00100040435791, 0.11627800017595291, 6.734139919281006], [-13.00100040435791, 0.11627800017595291, 6.484139919281006], [-13.00100040435791, 0.11627800017595291, 6.234139919281006], [-13.065705299377441, 0.11627800017595291, 5.992658615112305], [-13.065705299377441, 0.11627800017595291, 5.742658615112305], [-13.065705299377441, 0.11627800017595291, 5.492658615112305], [-13.065705299377441, 0.11627800017595291, 5.242658615112305], [-13.065705299377441, 0.11627800017595291, 4.992658615112305], [-13.065705299377441, 0.11627800017595291, 4.742658615112305], [-13.065705299377441, 0.11627800017595291, 4.492658615112305], [-13.075654029846191, 0.11627800017595291, 4.242658615112305], [-13.075654029846191, 0.11627800017595291, 3.9926586151123047], [-13.075654029846191, 0.11627800017595291, 3.7426586151123047], [-13.140358924865723, 0.11627800017595291, 3.5011770725250244], [-13.205063819885254, 0.11627800017595291, 3.259695529937744], [-13.269768714904785, 0.11627800017595291, 3.018213987350464], [-13.028286933898926, 0.11627800017595291, 2.9535093307495117], [-12.786805152893066, 0.11627800017595291, 2.8888046741485596], [-12.545323371887207, 0.11627800017595291, 2.8241000175476074], [-12.303841590881348, 0.11627800017595291, 2.7593953609466553], [-12.087335586547852, 0.11627800017595291, 2.6343953609466553], [-11.88131332397461, 0.11627800017595291, 2.47955322265625], [-11.704536437988281, 0.11627800017595291, 2.302776575088501], [-11.527759552001953, 0.11627800017595291, 2.125999927520752], [-11.350982666015625, 0.11627800017595291, 1.949223279953003], [-11.174205780029297, 0.11627800017595291, 1.772446632385254], [-10.997428894042969, 0.11627800017595291, 1.5956699848175049], [-10.82065200805664, 0.11627800017595291, 1.4188933372497559], [-10.75594711303711, 0.11627800017595291, 1.1774119138717651], [-10.691242218017578, 0.11627800017595291, 0.9359304308891296], [-10.566242218017578, 0.11627800017595291, 0.7194240689277649]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 0]"}
{"id": 62, "episode_id": "63", "scene_id": "S9hNv5qa7GM", "instruction": "Walk toward the piano. Turn right at the piano, then turn left before the stairs and wait in the doorway. ", "start_position": [-13.00100040435791, 0.11627800017595291, 7.484139919281006], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-10.517399787902832, 0.11627800017595291, 0.4167500138282776], "goal_radius": 3.0, "reference_path": "[[-13.00100040435791, 0.11627800017595291, 7.484139919281006], [-13.166999816894531, 0.11627800017595291, 5.388209819793701], [-13.26669979095459, 0.11627800017595291, 2.7534499168395996], [-10.485699653625488, 0.11627800017595291, 1.0772000551223755], [-10.517399787902832, 0.11627800017595291, 0.4167500138282776]]", "geodesic_distance": 8.053403854370117, "gt_locations": "[[-13.00100040435791, 0.11627800017595291, 7.484139919281006], [-13.00100040435791, 0.11627800017595291, 7.234139919281006], [-13.00100040435791, 0.11627800017595291, 6.984139919281006], [-13.00100040435791, 0.11627800017595291, 6.734139919281006], [-13.00100040435791, 0.11627800017595291, 6.484139919281006], [-13.00100040435791, 0.11627800017595291, 6.234139919281006], [-13.065705299377441, 0.11627800017595291, 5.992658615112305], [-13.065705299377441, 0.11627800017595291, 5.742658615112305], [-13.065705299377441, 0.11627800017595291, 5.492658615112305], [-13.065705299377441, 0.11627800017595291, 5.242658615112305], [-13.065705299377441, 0.11627800017595291, 4.992658615112305], [-13.065705299377441, 0.11627800017595291, 4.742658615112305], [-13.065705299377441, 0.11627800017595291, 4.492658615112305], [-13.075654029846191, 0.11627800017595291, 4.242658615112305], [-13.075654029846191, 0.11627800017595291, 3.9926586151123047], [-13.075654029846191, 0.11627800017595291, 3.7426586151123047], [-13.140358924865723, 0.11627800017595291, 3.5011770725250244], [-13.205063819885254, 0.11627800017595291, 3.259695529937744], [-13.269768714904785, 0.11627800017595291, 3.018213987350464], [-13.028286933898926, 0.11627800017595291, 2.9535093307495117], [-12.786805152893066, 0.11627800017595291, 2.8888046741485596], [-12.545323371887207, 0.11627800017595291, 2.8241000175476074], [-12.303841590881348, 0.11627800017595291, 2.7593953609466553], [-12.087335586547852, 0.11627800017595291, 2.6343953609466553], [-11.88131332397461, 0.11627800017595291, 2.47955322265625], [-11.704536437988281, 0.11627800017595291, 2.302776575088501], [-11.527759552001953, 0.11627800017595291, 2.125999927520752], [-11.350982666015625, 0.11627800017595291, 1.949223279953003], [-11.174205780029297, 0.11627800017595291, 1.772446632385254], [-10.997428894042969, 0.11627800017595291, 1.5956699848175049], [-10.82065200805664, 0.11627800017595291, 1.4188933372497559], [-10.75594711303711, 0.11627800017595291, 1.1774119138717651], [-10.691242218017578, 0.11627800017595291, 0.9359304308891296], [-10.566242218017578, 0.11627800017595291, 0.7194240689277649]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 0]"}
{"id": 63, "episode_id": "64", "scene_id": "rPc6DW4iMge", "instruction": "Walk straight in between the area located by the fire place and furniture. Continue to walk into you run into a white chair with a pillow sitting on it. Make an immediate right and then immediate left which will take you out on the patio area and then wait there. ", "start_position": [1.2461299896240234, -3.240571975708008, 4.4509501457214355], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-1.6190999746322632, -3.240571975708008, 14.664999961853027], "goal_radius": 3.0, "reference_path": "[[1.2461299896240234, -3.240571975708008, 4.4509501457214355], [0.9248489737510681, -3.240571975708008, 7.173840045928955], [0.9704899787902832, -3.240571975708008, 8.807530403137207], [0.9417799711227417, -3.240571975708008, 10.625399589538574], [-0.042385801672935486, -3.240571975708008, 13.448399543762207], [-1.6190999746322632, -3.240571975708008, 14.664999961853027]]", "geodesic_distance": 11.61406135559082, "gt_locations": "[[1.2461299896240234, -3.240571975708008, 4.4509501457214355], [1.1814252138137817, -3.240571975708008, 4.692431449890137], [1.1814252138137817, -3.240571975708008, 4.942431449890137], [1.1814252138137817, -3.240571975708008, 5.192431449890137], [1.1814252138137817, -3.240571975708008, 5.442431449890137], [1.1814252138137817, -3.240571975708008, 5.692431449890137], [1.1814252138137817, -3.240571975708008, 5.942431449890137], [1.1814252138137817, -3.240571975708008, 6.192431449890137], [1.11672043800354, -3.240571975708008, 6.433912754058838], [1.0520156621932983, -3.240571975708008, 6.675394058227539], [0.9873108863830566, -3.240571975708008, 6.91687536239624], [0.9873108863830566, -3.240571975708008, 7.16687536239624], [0.9873108863830566, -3.240571975708008, 7.41687536239624], [0.9873108863830566, -3.240571975708008, 7.66687536239624], [0.9873108863830566, -3.240571975708008, 7.91687536239624], [0.9873108863830566, -3.240571975708008, 8.166875839233398], [0.9873108863830566, -3.240571975708008, 8.416875839233398], [0.9873108863830566, -3.240571975708008, 8.666875839233398], [0.9873108863830566, -3.240571975708008, 8.916875839233398], [0.9873108863830566, -3.240571975708008, 9.166875839233398], [0.9873108863830566, -3.240571975708008, 9.416875839233398], [0.9226061105728149, -3.240571975708008, 9.658357620239258], [0.9226061105728149, -3.240571975708008, 9.908357620239258], [0.9226061105728149, -3.240571975708008, 10.158357620239258], [0.9226061105728149, -3.240571975708008, 10.408357620239258], [0.9226061105728149, -3.240571975708008, 10.658357620239258], [0.9226061105728149, -3.240571975708008, 10.908357620239258], [0.9226061105728149, -3.240571975708008, 11.158357620239258], [0.9226061105728149, -3.240571975708008, 11.408357620239258], [0.9226061105728149, -3.240571975708008, 11.658357620239258], [0.9759492874145508, -3.240571975708008, 11.908357620239258], [0.9759492874145508, -3.240571975708008, 12.158357620239258], [0.9759492874145508, -3.240571975708008, 12.408357620239258], [0.9759492874145508, -3.240571975708008, 12.658357620239258], [0.9759492874145508, -3.240571975708008, 12.908357620239258], [0.759442925453186, -3.240571975708008, 13.033357620239258], [0.5429365634918213, -3.240571975708008, 13.158357620239258], [0.32643020153045654, -3.240571975708008, 13.283357620239258], [0.10992385447025299, -3.240571975708008, 13.408357620239258], [-0.10658249258995056, -3.240571975708008, 13.533357620239258], [-0.3230888247489929, -3.240571975708008, 13.658357620239258], [-0.5395951867103577, -3.240571975708008, 13.783357620239258], [-0.7561015486717224, -3.240571975708008, 13.908357620239258], [-0.9328782558441162, -3.240571975708008, 14.085134506225586], [-1.1096549034118652, -3.240571975708008, 14.261911392211914], [-1.2864315509796143, -3.240571975708008, 14.438688278198242]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 64, "episode_id": "65", "scene_id": "rPc6DW4iMge", "instruction": "Move forward along the window into the living room, continue in front of the fire place towards the other side of the room, turn right at the sliding door, then turn left, stop after once outside. ", "start_position": [1.2461299896240234, -3.240571975708008, 4.4509501457214355], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-1.6190999746322632, -3.240571975708008, 14.664999961853027], "goal_radius": 3.0, "reference_path": "[[1.2461299896240234, -3.240571975708008, 4.4509501457214355], [0.9248489737510681, -3.240571975708008, 7.173840045928955], [0.9704899787902832, -3.240571975708008, 8.807530403137207], [0.9417799711227417, -3.240571975708008, 10.625399589538574], [-0.042385801672935486, -3.240571975708008, 13.448399543762207], [-1.6190999746322632, -3.240571975708008, 14.664999961853027]]", "geodesic_distance": 11.61406135559082, "gt_locations": "[[1.2461299896240234, -3.240571975708008, 4.4509501457214355], [1.1814252138137817, -3.240571975708008, 4.692431449890137], [1.1814252138137817, -3.240571975708008, 4.942431449890137], [1.1814252138137817, -3.240571975708008, 5.192431449890137], [1.1814252138137817, -3.240571975708008, 5.442431449890137], [1.1814252138137817, -3.240571975708008, 5.692431449890137], [1.1814252138137817, -3.240571975708008, 5.942431449890137], [1.1814252138137817, -3.240571975708008, 6.192431449890137], [1.11672043800354, -3.240571975708008, 6.433912754058838], [1.0520156621932983, -3.240571975708008, 6.675394058227539], [0.9873108863830566, -3.240571975708008, 6.91687536239624], [0.9873108863830566, -3.240571975708008, 7.16687536239624], [0.9873108863830566, -3.240571975708008, 7.41687536239624], [0.9873108863830566, -3.240571975708008, 7.66687536239624], [0.9873108863830566, -3.240571975708008, 7.91687536239624], [0.9873108863830566, -3.240571975708008, 8.166875839233398], [0.9873108863830566, -3.240571975708008, 8.416875839233398], [0.9873108863830566, -3.240571975708008, 8.666875839233398], [0.9873108863830566, -3.240571975708008, 8.916875839233398], [0.9873108863830566, -3.240571975708008, 9.166875839233398], [0.9873108863830566, -3.240571975708008, 9.416875839233398], [0.9226061105728149, -3.240571975708008, 9.658357620239258], [0.9226061105728149, -3.240571975708008, 9.908357620239258], [0.9226061105728149, -3.240571975708008, 10.158357620239258], [0.9226061105728149, -3.240571975708008, 10.408357620239258], [0.9226061105728149, -3.240571975708008, 10.658357620239258], [0.9226061105728149, -3.240571975708008, 10.908357620239258], [0.9226061105728149, -3.240571975708008, 11.158357620239258], [0.9226061105728149, -3.240571975708008, 11.408357620239258], [0.9226061105728149, -3.240571975708008, 11.658357620239258], [0.9759492874145508, -3.240571975708008, 11.908357620239258], [0.9759492874145508, -3.240571975708008, 12.158357620239258], [0.9759492874145508, -3.240571975708008, 12.408357620239258], [0.9759492874145508, -3.240571975708008, 12.658357620239258], [0.9759492874145508, -3.240571975708008, 12.908357620239258], [0.759442925453186, -3.240571975708008, 13.033357620239258], [0.5429365634918213, -3.240571975708008, 13.158357620239258], [0.32643020153045654, -3.240571975708008, 13.283357620239258], [0.10992385447025299, -3.240571975708008, 13.408357620239258], [-0.10658249258995056, -3.240571975708008, 13.533357620239258], [-0.3230888247489929, -3.240571975708008, 13.658357620239258], [-0.5395951867103577, -3.240571975708008, 13.783357620239258], [-0.7561015486717224, -3.240571975708008, 13.908357620239258], [-0.9328782558441162, -3.240571975708008, 14.085134506225586], [-1.1096549034118652, -3.240571975708008, 14.261911392211914], [-1.2864315509796143, -3.240571975708008, 14.438688278198242]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 65, "episode_id": "66", "scene_id": "rPc6DW4iMge", "instruction": "move towards the couch. ", "start_position": [1.2461299896240234, -3.240571975708008, 4.4509501457214355], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-1.6190999746322632, -3.240571975708008, 14.664999961853027], "goal_radius": 3.0, "reference_path": "[[1.2461299896240234, -3.240571975708008, 4.4509501457214355], [0.9248489737510681, -3.240571975708008, 7.173840045928955], [0.9704899787902832, -3.240571975708008, 8.807530403137207], [0.9417799711227417, -3.240571975708008, 10.625399589538574], [-0.042385801672935486, -3.240571975708008, 13.448399543762207], [-1.6190999746322632, -3.240571975708008, 14.664999961853027]]", "geodesic_distance": 11.61406135559082, "gt_locations": "[[1.2461299896240234, -3.240571975708008, 4.4509501457214355], [1.1814252138137817, -3.240571975708008, 4.692431449890137], [1.1814252138137817, -3.240571975708008, 4.942431449890137], [1.1814252138137817, -3.240571975708008, 5.192431449890137], [1.1814252138137817, -3.240571975708008, 5.442431449890137], [1.1814252138137817, -3.240571975708008, 5.692431449890137], [1.1814252138137817, -3.240571975708008, 5.942431449890137], [1.1814252138137817, -3.240571975708008, 6.192431449890137], [1.11672043800354, -3.240571975708008, 6.433912754058838], [1.0520156621932983, -3.240571975708008, 6.675394058227539], [0.9873108863830566, -3.240571975708008, 6.91687536239624], [0.9873108863830566, -3.240571975708008, 7.16687536239624], [0.9873108863830566, -3.240571975708008, 7.41687536239624], [0.9873108863830566, -3.240571975708008, 7.66687536239624], [0.9873108863830566, -3.240571975708008, 7.91687536239624], [0.9873108863830566, -3.240571975708008, 8.166875839233398], [0.9873108863830566, -3.240571975708008, 8.416875839233398], [0.9873108863830566, -3.240571975708008, 8.666875839233398], [0.9873108863830566, -3.240571975708008, 8.916875839233398], [0.9873108863830566, -3.240571975708008, 9.166875839233398], [0.9873108863830566, -3.240571975708008, 9.416875839233398], [0.9226061105728149, -3.240571975708008, 9.658357620239258], [0.9226061105728149, -3.240571975708008, 9.908357620239258], [0.9226061105728149, -3.240571975708008, 10.158357620239258], [0.9226061105728149, -3.240571975708008, 10.408357620239258], [0.9226061105728149, -3.240571975708008, 10.658357620239258], [0.9226061105728149, -3.240571975708008, 10.908357620239258], [0.9226061105728149, -3.240571975708008, 11.158357620239258], [0.9226061105728149, -3.240571975708008, 11.408357620239258], [0.9226061105728149, -3.240571975708008, 11.658357620239258], [0.9759492874145508, -3.240571975708008, 11.908357620239258], [0.9759492874145508, -3.240571975708008, 12.158357620239258], [0.9759492874145508, -3.240571975708008, 12.408357620239258], [0.9759492874145508, -3.240571975708008, 12.658357620239258], [0.9759492874145508, -3.240571975708008, 12.908357620239258], [0.759442925453186, -3.240571975708008, 13.033357620239258], [0.5429365634918213, -3.240571975708008, 13.158357620239258], [0.32643020153045654, -3.240571975708008, 13.283357620239258], [0.10992385447025299, -3.240571975708008, 13.408357620239258], [-0.10658249258995056, -3.240571975708008, 13.533357620239258], [-0.3230888247489929, -3.240571975708008, 13.658357620239258], [-0.5395951867103577, -3.240571975708008, 13.783357620239258], [-0.7561015486717224, -3.240571975708008, 13.908357620239258], [-0.9328782558441162, -3.240571975708008, 14.085134506225586], [-1.1096549034118652, -3.240571975708008, 14.261911392211914], [-1.2864315509796143, -3.240571975708008, 14.438688278198242]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 66, "episode_id": "67", "scene_id": "rPc6DW4iMge", "instruction": "Walk passed though couches and fireplace. Continue passed the coffee table and around the next set of couches. couches. Walk though the open sliding doors to the outside patio. ", "start_position": [1.2461299896240234, -3.240571975708008, 4.4509501457214355], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-1.6190999746322632, -3.240571975708008, 14.664999961853027], "goal_radius": 3.0, "reference_path": "[[1.2461299896240234, -3.240571975708008, 4.4509501457214355], [0.9248489737510681, -3.240571975708008, 7.173840045928955], [0.9704899787902832, -3.240571975708008, 8.807530403137207], [0.9417799711227417, -3.240571975708008, 10.625399589538574], [-0.042385801672935486, -3.240571975708008, 13.448399543762207], [-1.6190999746322632, -3.240571975708008, 14.664999961853027]]", "geodesic_distance": 11.61406135559082, "gt_locations": "[[1.2461299896240234, -3.240571975708008, 4.4509501457214355], [1.1814252138137817, -3.240571975708008, 4.692431449890137], [1.1814252138137817, -3.240571975708008, 4.942431449890137], [1.1814252138137817, -3.240571975708008, 5.192431449890137], [1.1814252138137817, -3.240571975708008, 5.442431449890137], [1.1814252138137817, -3.240571975708008, 5.692431449890137], [1.1814252138137817, -3.240571975708008, 5.942431449890137], [1.1814252138137817, -3.240571975708008, 6.192431449890137], [1.11672043800354, -3.240571975708008, 6.433912754058838], [1.0520156621932983, -3.240571975708008, 6.675394058227539], [0.9873108863830566, -3.240571975708008, 6.91687536239624], [0.9873108863830566, -3.240571975708008, 7.16687536239624], [0.9873108863830566, -3.240571975708008, 7.41687536239624], [0.9873108863830566, -3.240571975708008, 7.66687536239624], [0.9873108863830566, -3.240571975708008, 7.91687536239624], [0.9873108863830566, -3.240571975708008, 8.166875839233398], [0.9873108863830566, -3.240571975708008, 8.416875839233398], [0.9873108863830566, -3.240571975708008, 8.666875839233398], [0.9873108863830566, -3.240571975708008, 8.916875839233398], [0.9873108863830566, -3.240571975708008, 9.166875839233398], [0.9873108863830566, -3.240571975708008, 9.416875839233398], [0.9226061105728149, -3.240571975708008, 9.658357620239258], [0.9226061105728149, -3.240571975708008, 9.908357620239258], [0.9226061105728149, -3.240571975708008, 10.158357620239258], [0.9226061105728149, -3.240571975708008, 10.408357620239258], [0.9226061105728149, -3.240571975708008, 10.658357620239258], [0.9226061105728149, -3.240571975708008, 10.908357620239258], [0.9226061105728149, -3.240571975708008, 11.158357620239258], [0.9226061105728149, -3.240571975708008, 11.408357620239258], [0.9226061105728149, -3.240571975708008, 11.658357620239258], [0.9759492874145508, -3.240571975708008, 11.908357620239258], [0.9759492874145508, -3.240571975708008, 12.158357620239258], [0.9759492874145508, -3.240571975708008, 12.408357620239258], [0.9759492874145508, -3.240571975708008, 12.658357620239258], [0.9759492874145508, -3.240571975708008, 12.908357620239258], [0.759442925453186, -3.240571975708008, 13.033357620239258], [0.5429365634918213, -3.240571975708008, 13.158357620239258], [0.32643020153045654, -3.240571975708008, 13.283357620239258], [0.10992385447025299, -3.240571975708008, 13.408357620239258], [-0.10658249258995056, -3.240571975708008, 13.533357620239258], [-0.3230888247489929, -3.240571975708008, 13.658357620239258], [-0.5395951867103577, -3.240571975708008, 13.783357620239258], [-0.7561015486717224, -3.240571975708008, 13.908357620239258], [-0.9328782558441162, -3.240571975708008, 14.085134506225586], [-1.1096549034118652, -3.240571975708008, 14.261911392211914], [-1.2864315509796143, -3.240571975708008, 14.438688278198242]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 67, "episode_id": "68", "scene_id": "cV4RVeZvu5T", "instruction": "Walk past the seat with a tapestry cover. Turn right and walk up the grey painted stairs. Walk straight ahead to the living area and wait in the middle of the room. ", "start_position": [1.3618199825286865, 0.11846804618835449, 4.519810199737549], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-2.261120080947876, 0.9184679985046387, 6.269139766693115], "goal_radius": 3.0, "reference_path": "[[1.3618199825286865, 0.11846804618835449, 4.519810199737549], [2.4370100498199463, 0.11846804618835449, 6.555200099945068], [0.26338401436805725, 0.9312430620193481, 6.538599967956543], [-0.6482639908790588, 0.9184679985046387, 6.242839813232422], [-2.261120080947876, 0.9184679985046387, 6.269139766693115]]", "geodesic_distance": 6.315418243408203, "gt_locations": "[[1.3618199825286865, 0.11846804618835449, 4.519810199737549], [1.5385966300964355, 0.11846804618835449, 4.696587085723877], [1.6635966300964355, 0.11846804618835449, 4.913093566894531], [1.8403732776641846, 0.11846804618835449, 5.089870452880859], [1.9390673637390137, 0.11846804618835449, 5.3313517570495605], [2.003772020339966, 0.11846804618835449, 5.572833061218262], [2.068476676940918, 0.11846804618835449, 5.814314365386963], [2.193476676940918, 0.11846804618835449, 6.030820846557617], [2.318476676940918, 0.11846804618835449, 6.2473273277282715], [2.0769951343536377, 0.11846804618835449, 6.312032222747803], [1.8269951343536377, 0.18040582537651062, 6.312032222747803], [1.5769951343536377, 0.36442017555236816, 6.312032222747803], [1.3269951343536377, 0.4948548674583435, 6.312032222747803], [1.0769951343536377, 0.6252895593643188, 6.312032222747803], [0.8269951343536377, 0.755724310874939, 6.312032222747803], [0.5855136513710022, 0.9086723923683167, 6.376737117767334], [0.3355136513710022, 0.9184679985046387, 6.376737117767334], [0.0855136513710022, 0.9184679985046387, 6.376737117767334], [-0.1559678167104721, 0.9184679985046387, 6.312032222747803], [-0.4059678316116333, 0.9184679985046387, 6.312032222747803], [-0.6559678316116333, 0.9184679985046387, 6.312032222747803], [-0.9059678316116333, 0.9184679985046387, 6.312032222747803], [-1.1559678316116333, 0.9184679985046387, 6.312032222747803], [-1.4059678316116333, 0.9184679985046387, 6.312032222747803], [-1.6559678316116333, 0.9184679985046387, 6.312032222747803], [-1.9059678316116333, 0.9184679985046387, 6.312032222747803]]", "gt_actions": "[3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 68, "episode_id": "69", "scene_id": "cV4RVeZvu5T", "instruction": "Walk forward towards the bench. At the bench take a right and head up the first part of the stairs. At the landing go straight into the living room. In the living room stop behind the left leather chair far enough back that you are parallel with the light switch on your left. ", "start_position": [1.3618199825286865, 0.11846804618835449, 4.519810199737549], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-2.261120080947876, 0.9184679985046387, 6.269139766693115], "goal_radius": 3.0, "reference_path": "[[1.3618199825286865, 0.11846804618835449, 4.519810199737549], [2.4370100498199463, 0.11846804618835449, 6.555200099945068], [0.26338401436805725, 0.9312430620193481, 6.538599967956543], [-0.6482639908790588, 0.9184679985046387, 6.242839813232422], [-2.261120080947876, 0.9184679985046387, 6.269139766693115]]", "geodesic_distance": 6.315418243408203, "gt_locations": "[[1.3618199825286865, 0.11846804618835449, 4.519810199737549], [1.5385966300964355, 0.11846804618835449, 4.696587085723877], [1.6635966300964355, 0.11846804618835449, 4.913093566894531], [1.8403732776641846, 0.11846804618835449, 5.089870452880859], [1.9390673637390137, 0.11846804618835449, 5.3313517570495605], [2.003772020339966, 0.11846804618835449, 5.572833061218262], [2.068476676940918, 0.11846804618835449, 5.814314365386963], [2.193476676940918, 0.11846804618835449, 6.030820846557617], [2.318476676940918, 0.11846804618835449, 6.2473273277282715], [2.0769951343536377, 0.11846804618835449, 6.312032222747803], [1.8269951343536377, 0.18040582537651062, 6.312032222747803], [1.5769951343536377, 0.36442017555236816, 6.312032222747803], [1.3269951343536377, 0.4948548674583435, 6.312032222747803], [1.0769951343536377, 0.6252895593643188, 6.312032222747803], [0.8269951343536377, 0.755724310874939, 6.312032222747803], [0.5855136513710022, 0.9086723923683167, 6.376737117767334], [0.3355136513710022, 0.9184679985046387, 6.376737117767334], [0.0855136513710022, 0.9184679985046387, 6.376737117767334], [-0.1559678167104721, 0.9184679985046387, 6.312032222747803], [-0.4059678316116333, 0.9184679985046387, 6.312032222747803], [-0.6559678316116333, 0.9184679985046387, 6.312032222747803], [-0.9059678316116333, 0.9184679985046387, 6.312032222747803], [-1.1559678316116333, 0.9184679985046387, 6.312032222747803], [-1.4059678316116333, 0.9184679985046387, 6.312032222747803], [-1.6559678316116333, 0.9184679985046387, 6.312032222747803], [-1.9059678316116333, 0.9184679985046387, 6.312032222747803]]", "gt_actions": "[3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 69, "episode_id": "70", "scene_id": "cV4RVeZvu5T", "instruction": "go down steps, turn right, and go up steps, stop by chairs. ", "start_position": [1.3618199825286865, 0.11846804618835449, 4.519810199737549], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-2.261120080947876, 0.9184679985046387, 6.269139766693115], "goal_radius": 3.0, "reference_path": "[[1.3618199825286865, 0.11846804618835449, 4.519810199737549], [2.4370100498199463, 0.11846804618835449, 6.555200099945068], [0.26338401436805725, 0.9312430620193481, 6.538599967956543], [-0.6482639908790588, 0.9184679985046387, 6.242839813232422], [-2.261120080947876, 0.9184679985046387, 6.269139766693115]]", "geodesic_distance": 6.315418243408203, "gt_locations": "[[1.3618199825286865, 0.11846804618835449, 4.519810199737549], [1.5385966300964355, 0.11846804618835449, 4.696587085723877], [1.6635966300964355, 0.11846804618835449, 4.913093566894531], [1.8403732776641846, 0.11846804618835449, 5.089870452880859], [1.9390673637390137, 0.11846804618835449, 5.3313517570495605], [2.003772020339966, 0.11846804618835449, 5.572833061218262], [2.068476676940918, 0.11846804618835449, 5.814314365386963], [2.193476676940918, 0.11846804618835449, 6.030820846557617], [2.318476676940918, 0.11846804618835449, 6.2473273277282715], [2.0769951343536377, 0.11846804618835449, 6.312032222747803], [1.8269951343536377, 0.18040582537651062, 6.312032222747803], [1.5769951343536377, 0.36442017555236816, 6.312032222747803], [1.3269951343536377, 0.4948548674583435, 6.312032222747803], [1.0769951343536377, 0.6252895593643188, 6.312032222747803], [0.8269951343536377, 0.755724310874939, 6.312032222747803], [0.5855136513710022, 0.9086723923683167, 6.376737117767334], [0.3355136513710022, 0.9184679985046387, 6.376737117767334], [0.0855136513710022, 0.9184679985046387, 6.376737117767334], [-0.1559678167104721, 0.9184679985046387, 6.312032222747803], [-0.4059678316116333, 0.9184679985046387, 6.312032222747803], [-0.6559678316116333, 0.9184679985046387, 6.312032222747803], [-0.9059678316116333, 0.9184679985046387, 6.312032222747803], [-1.1559678316116333, 0.9184679985046387, 6.312032222747803], [-1.4059678316116333, 0.9184679985046387, 6.312032222747803], [-1.6559678316116333, 0.9184679985046387, 6.312032222747803], [-1.9059678316116333, 0.9184679985046387, 6.312032222747803]]", "gt_actions": "[3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 70, "episode_id": "71", "scene_id": "ULsKaCPVFJR", "instruction": "Walk out of the bathroom and take a left and walk straight, down the hall, into the bedroom. In the bedroom stop next to the photo of  sailboat on your right. ", "start_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.7480700016021729, 0.08356200158596039, 9.740280151367188], "goal_radius": 3.0, "reference_path": "[[3.4707400798797607, 0.08356200158596039, 5.586850166320801], [1.8027900457382202, 0.08356200158596039, 6.241089820861816], [0.807640016078949, 0.08356200158596039, 7.228509902954102], [-0.3003239929676056, 0.08356200158596039, 8.355660438537598], [-1.0287799835205078, 0.08356200158596039, 9.076009750366211], [-1.7480700016021729, 0.08356200158596039, 9.740280151367188]]", "geodesic_distance": 6.72333288192749, "gt_locations": "[[3.4707400798797607, 0.08356200158596039, 5.586850166320801], [3.2292585372924805, 0.08356200158596039, 5.651555061340332], [2.978039264678955, 0.08356200158596039, 5.706521987915039], [2.736557722091675, 0.08356200158596039, 5.77122688293457], [2.4950761795043945, 0.08356200158596039, 5.835931777954102], [2.2785699367523193, 0.08356200158596039, 5.960931777954102], [2.062063694000244, 0.08356200158596039, 6.085931777954102], [1.8852870464324951, 0.08356200158596039, 6.26270866394043], [1.708510398864746, 0.08356200158596039, 6.439485549926758], [1.531733751296997, 0.08356200158596039, 6.616262435913086], [1.354957103729248, 0.08356200158596039, 6.793039321899414], [1.178180456161499, 0.08356200158596039, 6.969816207885742], [1.00140380859375, 0.08356200158596039, 7.14659309387207], [0.824627161026001, 0.08356200158596039, 7.323369979858398], [0.6081207990646362, 0.08356200158596039, 7.448369979858398], [0.43134409189224243, 0.08356200158596039, 7.625146865844727], [0.25456738471984863, 0.08356200158596039, 7.801923751831055], [0.07779069244861603, 0.08356200158596039, 7.978700637817383], [-0.09898599982261658, 0.08356200158596039, 8.155477523803711], [-0.275762677192688, 0.08356200158596039, 8.332254409790039], [-0.4525393843650818, 0.08356200158596039, 8.509031295776367], [-0.6293160915374756, 0.08356200158596039, 8.685808181762695], [-0.8060927987098694, 0.08356200158596039, 8.862585067749023], [-1.0225991010665894, 0.08356200158596039, 8.987585067749023], [-1.1993757486343384, 0.08356200158596039, 9.164361953735352], [-1.3761523962020874, 0.08356200158596039, 9.34113883972168], [-1.5529290437698364, 0.08356200158596039, 9.517915725708008]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 0]"}
{"id": 71, "episode_id": "72", "scene_id": "ULsKaCPVFJR", "instruction": "Turn to the left and leave the bathroom.  Continue down the hallway.  When you get into a bedroom, you'll stop right by the picture of the sailboat.  Wait there. ", "start_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.7480700016021729, 0.08356200158596039, 9.740280151367188], "goal_radius": 3.0, "reference_path": "[[3.4707400798797607, 0.08356200158596039, 5.586850166320801], [1.8027900457382202, 0.08356200158596039, 6.241089820861816], [0.807640016078949, 0.08356200158596039, 7.228509902954102], [-0.3003239929676056, 0.08356200158596039, 8.355660438537598], [-1.0287799835205078, 0.08356200158596039, 9.076009750366211], [-1.7480700016021729, 0.08356200158596039, 9.740280151367188]]", "geodesic_distance": 6.72333288192749, "gt_locations": "[[3.4707400798797607, 0.08356200158596039, 5.586850166320801], [3.2292585372924805, 0.08356200158596039, 5.651555061340332], [2.978039264678955, 0.08356200158596039, 5.706521987915039], [2.736557722091675, 0.08356200158596039, 5.77122688293457], [2.4950761795043945, 0.08356200158596039, 5.835931777954102], [2.2785699367523193, 0.08356200158596039, 5.960931777954102], [2.062063694000244, 0.08356200158596039, 6.085931777954102], [1.8852870464324951, 0.08356200158596039, 6.26270866394043], [1.708510398864746, 0.08356200158596039, 6.439485549926758], [1.531733751296997, 0.08356200158596039, 6.616262435913086], [1.354957103729248, 0.08356200158596039, 6.793039321899414], [1.178180456161499, 0.08356200158596039, 6.969816207885742], [1.00140380859375, 0.08356200158596039, 7.14659309387207], [0.824627161026001, 0.08356200158596039, 7.323369979858398], [0.6081207990646362, 0.08356200158596039, 7.448369979858398], [0.43134409189224243, 0.08356200158596039, 7.625146865844727], [0.25456738471984863, 0.08356200158596039, 7.801923751831055], [0.07779069244861603, 0.08356200158596039, 7.978700637817383], [-0.09898599982261658, 0.08356200158596039, 8.155477523803711], [-0.275762677192688, 0.08356200158596039, 8.332254409790039], [-0.4525393843650818, 0.08356200158596039, 8.509031295776367], [-0.6293160915374756, 0.08356200158596039, 8.685808181762695], [-0.8060927987098694, 0.08356200158596039, 8.862585067749023], [-1.0225991010665894, 0.08356200158596039, 8.987585067749023], [-1.1993757486343384, 0.08356200158596039, 9.164361953735352], [-1.3761523962020874, 0.08356200158596039, 9.34113883972168], [-1.5529290437698364, 0.08356200158596039, 9.517915725708008]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 0]"}
{"id": 72, "episode_id": "73", "scene_id": "ULsKaCPVFJR", "instruction": "Walk past George Harrison quote. Walk into master bedroom. Waiting a picture of sailboat. ", "start_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.7480700016021729, 0.08356200158596039, 9.740280151367188], "goal_radius": 3.0, "reference_path": "[[3.4707400798797607, 0.08356200158596039, 5.586850166320801], [1.8027900457382202, 0.08356200158596039, 6.241089820861816], [0.807640016078949, 0.08356200158596039, 7.228509902954102], [-0.3003239929676056, 0.08356200158596039, 8.355660438537598], [-1.0287799835205078, 0.08356200158596039, 9.076009750366211], [-1.7480700016021729, 0.08356200158596039, 9.740280151367188]]", "geodesic_distance": 6.72333288192749, "gt_locations": "[[3.4707400798797607, 0.08356200158596039, 5.586850166320801], [3.2292585372924805, 0.08356200158596039, 5.651555061340332], [2.978039264678955, 0.08356200158596039, 5.706521987915039], [2.736557722091675, 0.08356200158596039, 5.77122688293457], [2.4950761795043945, 0.08356200158596039, 5.835931777954102], [2.2785699367523193, 0.08356200158596039, 5.960931777954102], [2.062063694000244, 0.08356200158596039, 6.085931777954102], [1.8852870464324951, 0.08356200158596039, 6.26270866394043], [1.708510398864746, 0.08356200158596039, 6.439485549926758], [1.531733751296997, 0.08356200158596039, 6.616262435913086], [1.354957103729248, 0.08356200158596039, 6.793039321899414], [1.178180456161499, 0.08356200158596039, 6.969816207885742], [1.00140380859375, 0.08356200158596039, 7.14659309387207], [0.824627161026001, 0.08356200158596039, 7.323369979858398], [0.6081207990646362, 0.08356200158596039, 7.448369979858398], [0.43134409189224243, 0.08356200158596039, 7.625146865844727], [0.25456738471984863, 0.08356200158596039, 7.801923751831055], [0.07779069244861603, 0.08356200158596039, 7.978700637817383], [-0.09898599982261658, 0.08356200158596039, 8.155477523803711], [-0.275762677192688, 0.08356200158596039, 8.332254409790039], [-0.4525393843650818, 0.08356200158596039, 8.509031295776367], [-0.6293160915374756, 0.08356200158596039, 8.685808181762695], [-0.8060927987098694, 0.08356200158596039, 8.862585067749023], [-1.0225991010665894, 0.08356200158596039, 8.987585067749023], [-1.1993757486343384, 0.08356200158596039, 9.164361953735352], [-1.3761523962020874, 0.08356200158596039, 9.34113883972168], [-1.5529290437698364, 0.08356200158596039, 9.517915725708008]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 0]"}
{"id": 73, "episode_id": "74", "scene_id": "gTV8FGcVJC9", "instruction": "Walk to the hallway with a painting on the wall. Turn left keep walking keeping left going down the stairs waiting on the first few steps of the stairs. ", "start_position": [-0.6368910074234009, 3.456643581390381, 12.437700271606445], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-7.554540157318115, 1.2022912502288818, 16.456199645996094], "goal_radius": 3.0, "reference_path": "[[-0.6368910074234009, 3.456643581390381, 12.437700271606445], [-0.637594997882843, 3.456643581390381, 10.566800117492676], [-2.8827500343322754, 3.456643581390381, 10.503899574279785], [-6.6813201904296875, 3.2566428184509277, 12.395099639892578], [-7.649310111999512, 2.550710916519165, 13.401100158691406], [-9.075949668884277, 1.8566431999206543, 14.981499671936035], [-7.554540157318115, 1.2022912502288818, 16.456199645996094]]", "geodesic_distance": 11.894696235656738, "gt_locations": "[[-0.6368910074234009, 3.456643581390381, 12.437700271606445], [-0.6368910074234009, 3.456643581390381, 12.187700271606445], [-0.6368910074234009, 3.456643581390381, 11.937700271606445], [-0.6368910074234009, 3.456643581390381, 11.687700271606445], [-0.6368910074234009, 3.456643581390381, 11.437700271606445], [-0.6368910074234009, 3.456643581390381, 11.187700271606445], [-0.6368910074234009, 3.456643581390381, 10.937700271606445], [-0.8783724904060364, 3.456643581390381, 10.872995376586914], [-1.1198539733886719, 3.456643581390381, 10.808290481567383], [-1.3613355159759521, 3.456643581390381, 10.743585586547852], [-1.6028170585632324, 3.456643581390381, 10.67888069152832], [-1.8442986011505127, 3.456643581390381, 10.614175796508789], [-2.085780143737793, 3.456643581390381, 10.549470901489258], [-2.335780143737793, 3.456643581390381, 10.549470901489258], [-2.585780143737793, 3.456643581390381, 10.549470901489258], [-2.8272616863250732, 3.456643581390381, 10.614175796508789], [-3.0687432289123535, 3.456643581390381, 10.67888069152832], [-3.310224771499634, 3.456643581390381, 10.743585586547852], [-3.551706314086914, 3.456643581390381, 10.808290481567383], [-3.7931878566741943, 3.456643581390381, 10.872995376586914], [-4.034669399261475, 3.456643581390381, 10.937700271606445], [-4.276150703430176, 3.456643581390381, 11.002405166625977], [-4.49265718460083, 3.456643581390381, 11.127405166625977], [-4.709163665771484, 3.456643581390381, 11.252405166625977], [-4.925670146942139, 3.456643581390381, 11.377405166625977], [-5.142176628112793, 3.456643581390381, 11.502405166625977], [-5.358683109283447, 3.456643581390381, 11.627405166625977], [-5.575189590454102, 3.456643581390381, 11.752405166625977], [-5.791696071624756, 3.456643581390381, 11.877405166625977], [-6.00820255279541, 3.456643581390381, 12.002405166625977], [-6.2247090339660645, 3.456643581390381, 12.127405166625977], [-6.441215515136719, 3.4659156799316406, 12.252405166625977], [-6.657721996307373, 3.2566428184509277, 12.377405166625977], [-6.874228477478027, 3.150592565536499, 12.502405166625977], [-7.090734958648682, 3.020601272583008, 12.627405166625977], [-7.307241439819336, 2.8906099796295166, 12.752405166625977], [-7.484018325805664, 2.7479872703552246, 12.929182052612305], [-7.609018325805664, 2.6693115234375, 13.1456880569458], [-7.734018325805664, 2.5423214435577393, 13.362194061279297], [-7.859018325805664, 2.4153313636779785, 13.578700065612793], [-7.984018325805664, 2.288341522216797, 13.795206069946289], [-8.109018325805664, 2.1613516807556152, 14.011712074279785], [-8.285795211791992, 2.10164737701416, 14.188488960266113], [-8.46257209777832, 1.963927149772644, 14.365265846252441], [-8.639348983764648, 1.9115411043167114, 14.54204273223877], [-8.816125869750977, 1.8361620903015137, 14.718819618225098], [-8.691125869750977, 1.8187658786773682, 14.935325622558594], [-8.566125869750977, 1.801369547843933, 15.15183162689209], [-8.441125869750977, 1.7839733362197876, 15.368337631225586], [-8.264348983764648, 1.7339699268341064, 15.545114517211914], [-8.08757209777832, 1.5930843353271484, 15.721891403198242], [-7.910795211791992, 1.4508256912231445, 15.89866828918457], [-7.734018325805664, 1.3126411437988281, 16.0754451751709]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 74, "episode_id": "75", "scene_id": "gTV8FGcVJC9", "instruction": "Walk out of bedroom into hallway and turn left. Walk down hall to stairway. Walk down stairway and wait on bottom landing. ", "start_position": [-0.6368910074234009, 3.456643581390381, 12.437700271606445], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-7.554540157318115, 1.2022912502288818, 16.456199645996094], "goal_radius": 3.0, "reference_path": "[[-0.6368910074234009, 3.456643581390381, 12.437700271606445], [-0.637594997882843, 3.456643581390381, 10.566800117492676], [-2.8827500343322754, 3.456643581390381, 10.503899574279785], [-6.6813201904296875, 3.2566428184509277, 12.395099639892578], [-7.649310111999512, 2.550710916519165, 13.401100158691406], [-9.075949668884277, 1.8566431999206543, 14.981499671936035], [-7.554540157318115, 1.2022912502288818, 16.456199645996094]]", "geodesic_distance": 11.894696235656738, "gt_locations": "[[-0.6368910074234009, 3.456643581390381, 12.437700271606445], [-0.6368910074234009, 3.456643581390381, 12.187700271606445], [-0.6368910074234009, 3.456643581390381, 11.937700271606445], [-0.6368910074234009, 3.456643581390381, 11.687700271606445], [-0.6368910074234009, 3.456643581390381, 11.437700271606445], [-0.6368910074234009, 3.456643581390381, 11.187700271606445], [-0.6368910074234009, 3.456643581390381, 10.937700271606445], [-0.8783724904060364, 3.456643581390381, 10.872995376586914], [-1.1198539733886719, 3.456643581390381, 10.808290481567383], [-1.3613355159759521, 3.456643581390381, 10.743585586547852], [-1.6028170585632324, 3.456643581390381, 10.67888069152832], [-1.8442986011505127, 3.456643581390381, 10.614175796508789], [-2.085780143737793, 3.456643581390381, 10.549470901489258], [-2.335780143737793, 3.456643581390381, 10.549470901489258], [-2.585780143737793, 3.456643581390381, 10.549470901489258], [-2.8272616863250732, 3.456643581390381, 10.614175796508789], [-3.0687432289123535, 3.456643581390381, 10.67888069152832], [-3.310224771499634, 3.456643581390381, 10.743585586547852], [-3.551706314086914, 3.456643581390381, 10.808290481567383], [-3.7931878566741943, 3.456643581390381, 10.872995376586914], [-4.034669399261475, 3.456643581390381, 10.937700271606445], [-4.276150703430176, 3.456643581390381, 11.002405166625977], [-4.49265718460083, 3.456643581390381, 11.127405166625977], [-4.709163665771484, 3.456643581390381, 11.252405166625977], [-4.925670146942139, 3.456643581390381, 11.377405166625977], [-5.142176628112793, 3.456643581390381, 11.502405166625977], [-5.358683109283447, 3.456643581390381, 11.627405166625977], [-5.575189590454102, 3.456643581390381, 11.752405166625977], [-5.791696071624756, 3.456643581390381, 11.877405166625977], [-6.00820255279541, 3.456643581390381, 12.002405166625977], [-6.2247090339660645, 3.456643581390381, 12.127405166625977], [-6.441215515136719, 3.4659156799316406, 12.252405166625977], [-6.657721996307373, 3.2566428184509277, 12.377405166625977], [-6.874228477478027, 3.150592565536499, 12.502405166625977], [-7.090734958648682, 3.020601272583008, 12.627405166625977], [-7.307241439819336, 2.8906099796295166, 12.752405166625977], [-7.484018325805664, 2.7479872703552246, 12.929182052612305], [-7.609018325805664, 2.6693115234375, 13.1456880569458], [-7.734018325805664, 2.5423214435577393, 13.362194061279297], [-7.859018325805664, 2.4153313636779785, 13.578700065612793], [-7.984018325805664, 2.288341522216797, 13.795206069946289], [-8.109018325805664, 2.1613516807556152, 14.011712074279785], [-8.285795211791992, 2.10164737701416, 14.188488960266113], [-8.46257209777832, 1.963927149772644, 14.365265846252441], [-8.639348983764648, 1.9115411043167114, 14.54204273223877], [-8.816125869750977, 1.8361620903015137, 14.718819618225098], [-8.691125869750977, 1.8187658786773682, 14.935325622558594], [-8.566125869750977, 1.801369547843933, 15.15183162689209], [-8.441125869750977, 1.7839733362197876, 15.368337631225586], [-8.264348983764648, 1.7339699268341064, 15.545114517211914], [-8.08757209777832, 1.5930843353271484, 15.721891403198242], [-7.910795211791992, 1.4508256912231445, 15.89866828918457], [-7.734018325805664, 1.3126411437988281, 16.0754451751709]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 75, "episode_id": "76", "scene_id": "gTV8FGcVJC9", "instruction": "Walk towards the landscape and turn left and continue through a door, Go down the stairs until you are looking at the front door. ", "start_position": [-0.6368910074234009, 3.456643581390381, 12.437700271606445], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-7.554540157318115, 1.2022912502288818, 16.456199645996094], "goal_radius": 3.0, "reference_path": "[[-0.6368910074234009, 3.456643581390381, 12.437700271606445], [-0.637594997882843, 3.456643581390381, 10.566800117492676], [-2.8827500343322754, 3.456643581390381, 10.503899574279785], [-6.6813201904296875, 3.2566428184509277, 12.395099639892578], [-7.649310111999512, 2.550710916519165, 13.401100158691406], [-9.075949668884277, 1.8566431999206543, 14.981499671936035], [-7.554540157318115, 1.2022912502288818, 16.456199645996094]]", "geodesic_distance": 11.894696235656738, "gt_locations": "[[-0.6368910074234009, 3.456643581390381, 12.437700271606445], [-0.6368910074234009, 3.456643581390381, 12.187700271606445], [-0.6368910074234009, 3.456643581390381, 11.937700271606445], [-0.6368910074234009, 3.456643581390381, 11.687700271606445], [-0.6368910074234009, 3.456643581390381, 11.437700271606445], [-0.6368910074234009, 3.456643581390381, 11.187700271606445], [-0.6368910074234009, 3.456643581390381, 10.937700271606445], [-0.8783724904060364, 3.456643581390381, 10.872995376586914], [-1.1198539733886719, 3.456643581390381, 10.808290481567383], [-1.3613355159759521, 3.456643581390381, 10.743585586547852], [-1.6028170585632324, 3.456643581390381, 10.67888069152832], [-1.8442986011505127, 3.456643581390381, 10.614175796508789], [-2.085780143737793, 3.456643581390381, 10.549470901489258], [-2.335780143737793, 3.456643581390381, 10.549470901489258], [-2.585780143737793, 3.456643581390381, 10.549470901489258], [-2.8272616863250732, 3.456643581390381, 10.614175796508789], [-3.0687432289123535, 3.456643581390381, 10.67888069152832], [-3.310224771499634, 3.456643581390381, 10.743585586547852], [-3.551706314086914, 3.456643581390381, 10.808290481567383], [-3.7931878566741943, 3.456643581390381, 10.872995376586914], [-4.034669399261475, 3.456643581390381, 10.937700271606445], [-4.276150703430176, 3.456643581390381, 11.002405166625977], [-4.49265718460083, 3.456643581390381, 11.127405166625977], [-4.709163665771484, 3.456643581390381, 11.252405166625977], [-4.925670146942139, 3.456643581390381, 11.377405166625977], [-5.142176628112793, 3.456643581390381, 11.502405166625977], [-5.358683109283447, 3.456643581390381, 11.627405166625977], [-5.575189590454102, 3.456643581390381, 11.752405166625977], [-5.791696071624756, 3.456643581390381, 11.877405166625977], [-6.00820255279541, 3.456643581390381, 12.002405166625977], [-6.2247090339660645, 3.456643581390381, 12.127405166625977], [-6.441215515136719, 3.4659156799316406, 12.252405166625977], [-6.657721996307373, 3.2566428184509277, 12.377405166625977], [-6.874228477478027, 3.150592565536499, 12.502405166625977], [-7.090734958648682, 3.020601272583008, 12.627405166625977], [-7.307241439819336, 2.8906099796295166, 12.752405166625977], [-7.484018325805664, 2.7479872703552246, 12.929182052612305], [-7.609018325805664, 2.6693115234375, 13.1456880569458], [-7.734018325805664, 2.5423214435577393, 13.362194061279297], [-7.859018325805664, 2.4153313636779785, 13.578700065612793], [-7.984018325805664, 2.288341522216797, 13.795206069946289], [-8.109018325805664, 2.1613516807556152, 14.011712074279785], [-8.285795211791992, 2.10164737701416, 14.188488960266113], [-8.46257209777832, 1.963927149772644, 14.365265846252441], [-8.639348983764648, 1.9115411043167114, 14.54204273223877], [-8.816125869750977, 1.8361620903015137, 14.718819618225098], [-8.691125869750977, 1.8187658786773682, 14.935325622558594], [-8.566125869750977, 1.801369547843933, 15.15183162689209], [-8.441125869750977, 1.7839733362197876, 15.368337631225586], [-8.264348983764648, 1.7339699268341064, 15.545114517211914], [-8.08757209777832, 1.5930843353271484, 15.721891403198242], [-7.910795211791992, 1.4508256912231445, 15.89866828918457], [-7.734018325805664, 1.3126411437988281, 16.0754451751709]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 76, "episode_id": "77", "scene_id": "VLzqgDo317F", "instruction": "Turn around. Walk past the left side of the vanity. Walk into the room with the cordoned rail. ", "start_position": [2.104759931564331, -3.152384042739868, 8.063209533691406], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-6.581110000610352, -3.0364632606506348, 11.262700080871582], "goal_radius": 3.0, "reference_path": "[[2.104759931564331, -3.152384042739868, 8.063209533691406], [-0.1905750036239624, -2.8216257095336914, 8.813440322875977], [-2.370389938354492, -3.1617259979248047, 10.939200401306152], [-4.796030044555664, -2.961726188659668, 10.875100135803223], [-6.581110000610352, -3.0364632606506348, 11.262700080871582]]", "geodesic_distance": 9.267373085021973, "gt_locations": "[[2.104759931564331, -3.152384042739868, 8.063209533691406], [1.8632783889770508, -3.1589295864105225, 8.127914428710938], [1.6217968463897705, -3.1210055351257324, 8.192619323730469], [1.3803153038024902, -3.0830812454223633, 8.25732421875], [1.13883376121521, -3.0451571941375732, 8.322029113769531], [0.8973522782325745, -3.007233142852783, 8.386734008789062], [0.655870795249939, -2.969309091567993, 8.451438903808594], [0.41438931226730347, -2.931385040283203, 8.516143798828125], [0.1978829950094223, -2.8900742530822754, 8.641143798828125], [0.02110631763935089, -2.8481922149658203, 8.817920684814453], [-0.15567035973072052, -2.8135476112365723, 8.994697570800781], [-0.3324470520019531, -2.8104441165924072, 9.17147445678711], [-0.5092236995697021, -2.82576847076416, 9.348251342773438], [-0.6860003471374512, -2.850231170654297, 9.525028228759766], [-0.8627769947052002, -2.8831825256347656, 9.701805114746094], [-1.0395536422729492, -2.925121784210205, 9.878582000732422], [-1.2163302898406982, -2.9670610427856445, 10.05535888671875], [-1.3931069374084473, -3.009000301361084, 10.232135772705078], [-1.5698835849761963, -3.0509395599365234, 10.408912658691406], [-1.786389946937561, -3.092592239379883, 10.533912658691406], [-2.002896308898926, -3.134244918823242, 10.658912658691406], [-2.252896308898926, -3.1617259979248047, 10.658912658691406], [-2.502896308898926, -3.1617259979248047, 10.658912658691406], [-2.752896308898926, -3.1617259979248047, 10.658912658691406], [-3.002896308898926, -3.1617259979248047, 10.658912658691406], [-3.252896308898926, -3.1617259979248047, 10.658912658691406], [-3.502896308898926, -3.1617259979248047, 10.658912658691406], [-3.752896308898926, -3.1296606063842773, 10.658912658691406], [-4.002896308898926, -3.009218215942383, 10.658912658691406], [-4.244377613067627, -2.961726188659668, 10.723617553710938], [-4.485858917236328, -2.961726188659668, 10.788322448730469], [-4.727340221405029, -2.961726188659668, 10.85302734375], [-4.9688215255737305, -2.9693620204925537, 10.917732238769531], [-5.210302829742432, -2.9932219982147217, 10.982437133789062], [-5.451784133911133, -3.0170819759368896, 11.047142028808594], [-5.693265438079834, -3.0588719844818115, 11.111846923828125], [-5.934746742248535, -3.1090312004089355, 11.176551818847656], [-6.176228046417236, -3.1591904163360596, 11.241256713867188]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 77, "episode_id": "78", "scene_id": "VLzqgDo317F", "instruction": "Go to the table with the mirror above it. Go through the doorway to the left of the table. Continue to the fireplace and turn left. ", "start_position": [2.104759931564331, -3.152384042739868, 8.063209533691406], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-6.581110000610352, -3.0364632606506348, 11.262700080871582], "goal_radius": 3.0, "reference_path": "[[2.104759931564331, -3.152384042739868, 8.063209533691406], [-0.1905750036239624, -2.8216257095336914, 8.813440322875977], [-2.370389938354492, -3.1617259979248047, 10.939200401306152], [-4.796030044555664, -2.961726188659668, 10.875100135803223], [-6.581110000610352, -3.0364632606506348, 11.262700080871582]]", "geodesic_distance": 9.267373085021973, "gt_locations": "[[2.104759931564331, -3.152384042739868, 8.063209533691406], [1.8632783889770508, -3.1589295864105225, 8.127914428710938], [1.6217968463897705, -3.1210055351257324, 8.192619323730469], [1.3803153038024902, -3.0830812454223633, 8.25732421875], [1.13883376121521, -3.0451571941375732, 8.322029113769531], [0.8973522782325745, -3.007233142852783, 8.386734008789062], [0.655870795249939, -2.969309091567993, 8.451438903808594], [0.41438931226730347, -2.931385040283203, 8.516143798828125], [0.1978829950094223, -2.8900742530822754, 8.641143798828125], [0.02110631763935089, -2.8481922149658203, 8.817920684814453], [-0.15567035973072052, -2.8135476112365723, 8.994697570800781], [-0.3324470520019531, -2.8104441165924072, 9.17147445678711], [-0.5092236995697021, -2.82576847076416, 9.348251342773438], [-0.6860003471374512, -2.850231170654297, 9.525028228759766], [-0.8627769947052002, -2.8831825256347656, 9.701805114746094], [-1.0395536422729492, -2.925121784210205, 9.878582000732422], [-1.2163302898406982, -2.9670610427856445, 10.05535888671875], [-1.3931069374084473, -3.009000301361084, 10.232135772705078], [-1.5698835849761963, -3.0509395599365234, 10.408912658691406], [-1.786389946937561, -3.092592239379883, 10.533912658691406], [-2.002896308898926, -3.134244918823242, 10.658912658691406], [-2.252896308898926, -3.1617259979248047, 10.658912658691406], [-2.502896308898926, -3.1617259979248047, 10.658912658691406], [-2.752896308898926, -3.1617259979248047, 10.658912658691406], [-3.002896308898926, -3.1617259979248047, 10.658912658691406], [-3.252896308898926, -3.1617259979248047, 10.658912658691406], [-3.502896308898926, -3.1617259979248047, 10.658912658691406], [-3.752896308898926, -3.1296606063842773, 10.658912658691406], [-4.002896308898926, -3.009218215942383, 10.658912658691406], [-4.244377613067627, -2.961726188659668, 10.723617553710938], [-4.485858917236328, -2.961726188659668, 10.788322448730469], [-4.727340221405029, -2.961726188659668, 10.85302734375], [-4.9688215255737305, -2.9693620204925537, 10.917732238769531], [-5.210302829742432, -2.9932219982147217, 10.982437133789062], [-5.451784133911133, -3.0170819759368896, 11.047142028808594], [-5.693265438079834, -3.0588719844818115, 11.111846923828125], [-5.934746742248535, -3.1090312004089355, 11.176551818847656], [-6.176228046417236, -3.1591904163360596, 11.241256713867188]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 78, "episode_id": "79", "scene_id": "VLzqgDo317F", "instruction": "Go forward past the stairs, and go into the room on your left. Stop on the red run next tot he far side of the fire place. ", "start_position": [2.104759931564331, -3.152384042739868, 8.063209533691406], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-6.581110000610352, -3.0364632606506348, 11.262700080871582], "goal_radius": 3.0, "reference_path": "[[2.104759931564331, -3.152384042739868, 8.063209533691406], [-0.1905750036239624, -2.8216257095336914, 8.813440322875977], [-2.370389938354492, -3.1617259979248047, 10.939200401306152], [-4.796030044555664, -2.961726188659668, 10.875100135803223], [-6.581110000610352, -3.0364632606506348, 11.262700080871582]]", "geodesic_distance": 9.267373085021973, "gt_locations": "[[2.104759931564331, -3.152384042739868, 8.063209533691406], [1.8632783889770508, -3.1589295864105225, 8.127914428710938], [1.6217968463897705, -3.1210055351257324, 8.192619323730469], [1.3803153038024902, -3.0830812454223633, 8.25732421875], [1.13883376121521, -3.0451571941375732, 8.322029113769531], [0.8973522782325745, -3.007233142852783, 8.386734008789062], [0.655870795249939, -2.969309091567993, 8.451438903808594], [0.41438931226730347, -2.931385040283203, 8.516143798828125], [0.1978829950094223, -2.8900742530822754, 8.641143798828125], [0.02110631763935089, -2.8481922149658203, 8.817920684814453], [-0.15567035973072052, -2.8135476112365723, 8.994697570800781], [-0.3324470520019531, -2.8104441165924072, 9.17147445678711], [-0.5092236995697021, -2.82576847076416, 9.348251342773438], [-0.6860003471374512, -2.850231170654297, 9.525028228759766], [-0.8627769947052002, -2.8831825256347656, 9.701805114746094], [-1.0395536422729492, -2.925121784210205, 9.878582000732422], [-1.2163302898406982, -2.9670610427856445, 10.05535888671875], [-1.3931069374084473, -3.009000301361084, 10.232135772705078], [-1.5698835849761963, -3.0509395599365234, 10.408912658691406], [-1.786389946937561, -3.092592239379883, 10.533912658691406], [-2.002896308898926, -3.134244918823242, 10.658912658691406], [-2.252896308898926, -3.1617259979248047, 10.658912658691406], [-2.502896308898926, -3.1617259979248047, 10.658912658691406], [-2.752896308898926, -3.1617259979248047, 10.658912658691406], [-3.002896308898926, -3.1617259979248047, 10.658912658691406], [-3.252896308898926, -3.1617259979248047, 10.658912658691406], [-3.502896308898926, -3.1617259979248047, 10.658912658691406], [-3.752896308898926, -3.1296606063842773, 10.658912658691406], [-4.002896308898926, -3.009218215942383, 10.658912658691406], [-4.244377613067627, -2.961726188659668, 10.723617553710938], [-4.485858917236328, -2.961726188659668, 10.788322448730469], [-4.727340221405029, -2.961726188659668, 10.85302734375], [-4.9688215255737305, -2.9693620204925537, 10.917732238769531], [-5.210302829742432, -2.9932219982147217, 10.982437133789062], [-5.451784133911133, -3.0170819759368896, 11.047142028808594], [-5.693265438079834, -3.0588719844818115, 11.111846923828125], [-5.934746742248535, -3.1090312004089355, 11.176551818847656], [-6.176228046417236, -3.1591904163360596, 11.241256713867188]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 79, "episode_id": "80", "scene_id": "uNb9QFRL6hY", "instruction": "Leave the bathroom and walk up one of the sets of stairs on the right. At the top take a right into the office. Stop in the doorway for the office. ", "start_position": [-1.564229965209961, -1.0384548902511597, -4.981019973754883], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-0.8851900100708008, -0.43845486640930176, -10.015800476074219], "goal_radius": 3.0, "reference_path": "[[-1.564229965209961, -1.0384548902511597, -4.981019973754883], [-1.9884300231933594, -1.0384548902511597, -4.991529941558838], [-2.3829400539398193, -0.9926009774208069, -6.728569984436035], [-2.3947501182556152, -0.867718517780304, -7.8562397956848145], [-2.4342598915100098, -0.43845486640930176, -9.340160369873047], [-0.8851900100708008, -0.43845486640930176, -10.015800476074219]]", "geodesic_distance": 5.953265190124512, "gt_locations": "[[-1.564229965209961, -1.0384548902511597, -4.981019973754883], [-1.7807363271713257, -1.0384548902511597, -5.106019973754883], [-1.9972426891326904, -1.0384548902511597, -5.231019973754883], [-2.0619473457336426, -1.0384548902511597, -5.472501277923584], [-2.1266520023345947, -1.0384548902511597, -5.713982582092285], [-2.191356658935547, -1.0384548902511597, -5.955463886260986], [-2.256061315536499, -1.0384548902511597, -6.1969451904296875], [-2.320765972137451, -1.025140404701233, -6.438426494598389], [-2.320765972137451, -0.9971030354499817, -6.688426494598389], [-2.320765972137451, -0.9719374775886536, -6.938426494598389], [-2.320765972137451, -0.9503358602523804, -7.188426494598389], [-2.320765972137451, -0.9193070530891418, -7.438426494598389], [-2.320765972137451, -0.8882781863212585, -7.688426494598389], [-2.320765972137451, -0.85724937915802, -7.938426494598389], [-2.320765972137451, -0.8017517924308777, -8.188426971435547], [-2.320765972137451, -0.7083613276481628, -8.438426971435547], [-2.320765972137451, -0.5859125256538391, -8.688426971435547], [-2.320765972137451, -0.43845486640930176, -8.938426971435547], [-2.195765972137451, -0.43845486640930176, -9.154932975769043], [-2.018989324569702, -0.43845486640930176, -9.331709861755371], [-1.8024829626083374, -0.43845486640930176, -9.456709861755371], [-1.5859766006469727, -0.43845486640930176, -9.581709861755371], [-1.369470238685608, -0.43845486640930176, -9.706709861755371], [-1.1529638767242432, -0.43845486640930176, -9.831709861755371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 80, "episode_id": "81", "scene_id": "uNb9QFRL6hY", "instruction": "turn right. exit room. turn right again. walk up stairs in the hallway to first door on the right. turn right into the den. ", "start_position": [-1.564229965209961, -1.0384548902511597, -4.981019973754883], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-0.8851900100708008, -0.43845486640930176, -10.015800476074219], "goal_radius": 3.0, "reference_path": "[[-1.564229965209961, -1.0384548902511597, -4.981019973754883], [-1.9884300231933594, -1.0384548902511597, -4.991529941558838], [-2.3829400539398193, -0.9926009774208069, -6.728569984436035], [-2.3947501182556152, -0.867718517780304, -7.8562397956848145], [-2.4342598915100098, -0.43845486640930176, -9.340160369873047], [-0.8851900100708008, -0.43845486640930176, -10.015800476074219]]", "geodesic_distance": 5.953265190124512, "gt_locations": "[[-1.564229965209961, -1.0384548902511597, -4.981019973754883], [-1.7807363271713257, -1.0384548902511597, -5.106019973754883], [-1.9972426891326904, -1.0384548902511597, -5.231019973754883], [-2.0619473457336426, -1.0384548902511597, -5.472501277923584], [-2.1266520023345947, -1.0384548902511597, -5.713982582092285], [-2.191356658935547, -1.0384548902511597, -5.955463886260986], [-2.256061315536499, -1.0384548902511597, -6.1969451904296875], [-2.320765972137451, -1.025140404701233, -6.438426494598389], [-2.320765972137451, -0.9971030354499817, -6.688426494598389], [-2.320765972137451, -0.9719374775886536, -6.938426494598389], [-2.320765972137451, -0.9503358602523804, -7.188426494598389], [-2.320765972137451, -0.9193070530891418, -7.438426494598389], [-2.320765972137451, -0.8882781863212585, -7.688426494598389], [-2.320765972137451, -0.85724937915802, -7.938426494598389], [-2.320765972137451, -0.8017517924308777, -8.188426971435547], [-2.320765972137451, -0.7083613276481628, -8.438426971435547], [-2.320765972137451, -0.5859125256538391, -8.688426971435547], [-2.320765972137451, -0.43845486640930176, -8.938426971435547], [-2.195765972137451, -0.43845486640930176, -9.154932975769043], [-2.018989324569702, -0.43845486640930176, -9.331709861755371], [-1.8024829626083374, -0.43845486640930176, -9.456709861755371], [-1.5859766006469727, -0.43845486640930176, -9.581709861755371], [-1.369470238685608, -0.43845486640930176, -9.706709861755371], [-1.1529638767242432, -0.43845486640930176, -9.831709861755371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 81, "episode_id": "82", "scene_id": "uNb9QFRL6hY", "instruction": "Step forward into the hallway and turn right. Walk up the first three steps.Turn right and walk into the dining room. ", "start_position": [-1.564229965209961, -1.0384548902511597, -4.981019973754883], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-0.8851900100708008, -0.43845486640930176, -10.015800476074219], "goal_radius": 3.0, "reference_path": "[[-1.564229965209961, -1.0384548902511597, -4.981019973754883], [-1.9884300231933594, -1.0384548902511597, -4.991529941558838], [-2.3829400539398193, -0.9926009774208069, -6.728569984436035], [-2.3947501182556152, -0.867718517780304, -7.8562397956848145], [-2.4342598915100098, -0.43845486640930176, -9.340160369873047], [-0.8851900100708008, -0.43845486640930176, -10.015800476074219]]", "geodesic_distance": 5.953265190124512, "gt_locations": "[[-1.564229965209961, -1.0384548902511597, -4.981019973754883], [-1.7807363271713257, -1.0384548902511597, -5.106019973754883], [-1.9972426891326904, -1.0384548902511597, -5.231019973754883], [-2.0619473457336426, -1.0384548902511597, -5.472501277923584], [-2.1266520023345947, -1.0384548902511597, -5.713982582092285], [-2.191356658935547, -1.0384548902511597, -5.955463886260986], [-2.256061315536499, -1.0384548902511597, -6.1969451904296875], [-2.320765972137451, -1.025140404701233, -6.438426494598389], [-2.320765972137451, -0.9971030354499817, -6.688426494598389], [-2.320765972137451, -0.9719374775886536, -6.938426494598389], [-2.320765972137451, -0.9503358602523804, -7.188426494598389], [-2.320765972137451, -0.9193070530891418, -7.438426494598389], [-2.320765972137451, -0.8882781863212585, -7.688426494598389], [-2.320765972137451, -0.85724937915802, -7.938426494598389], [-2.320765972137451, -0.8017517924308777, -8.188426971435547], [-2.320765972137451, -0.7083613276481628, -8.438426971435547], [-2.320765972137451, -0.5859125256538391, -8.688426971435547], [-2.320765972137451, -0.43845486640930176, -8.938426971435547], [-2.195765972137451, -0.43845486640930176, -9.154932975769043], [-2.018989324569702, -0.43845486640930176, -9.331709861755371], [-1.8024829626083374, -0.43845486640930176, -9.456709861755371], [-1.5859766006469727, -0.43845486640930176, -9.581709861755371], [-1.369470238685608, -0.43845486640930176, -9.706709861755371], [-1.1529638767242432, -0.43845486640930176, -9.831709861755371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 82, "episode_id": "83", "scene_id": "b8cTxDM8gDG", "instruction": "Walk forward and go up the stairs that are to the slight left. Wait in the entrance way to the house. ", "start_position": [4.32213020324707, -3.546725034713745, -2.5305800437927246], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-7.2327799797058105, -2.9014892578125, 0.5498660206794739], "goal_radius": 3.0, "reference_path": "[[4.32213020324707, -3.546725034713745, -2.5305800437927246], [1.6184200048446655, -3.546725034713745, -2.471950054168701], [-0.9646999835968018, -3.546725034713745, -2.5132899284362793], [-4.8686299324035645, -3.4891011714935303, -1.090939998626709], [-7.2327799797058105, -2.9014892578125, 0.5498660206794739]]", "geodesic_distance": 12.039117813110352, "gt_locations": "[[4.32213020324707, -3.546725034713745, -2.5305800437927246], [4.07213020324707, -3.546725034713745, -2.5305800437927246], [3.8221302032470703, -3.546725034713745, -2.5305800437927246], [3.5721302032470703, -3.546725034713745, -2.5305800437927246], [3.3221302032470703, -3.546725034713745, -2.5305800437927246], [3.0721302032470703, -3.546725034713745, -2.5305800437927246], [2.8221302032470703, -3.546725034713745, -2.5305800437927246], [2.5721302032470703, -3.546725034713745, -2.5305800437927246], [2.3221302032470703, -3.546725034713745, -2.5305800437927246], [2.0721302032470703, -3.546725034713745, -2.5305800437927246], [1.8221302032470703, -3.546725034713745, -2.5305800437927246], [1.5721302032470703, -3.546725034713745, -2.5305800437927246], [1.3221302032470703, -3.546725034713745, -2.5305800437927246], [1.0721302032470703, -3.546725034713745, -2.5305800437927246], [0.8221302032470703, -3.546725034713745, -2.5305800437927246], [0.5721302032470703, -3.546725034713745, -2.5305800437927246], [0.3221302032470703, -3.546725034713745, -2.5305800437927246], [0.07213020324707031, -3.546725034713745, -2.5305800437927246], [-0.1778697967529297, -3.546725034713745, -2.5305800437927246], [-0.4278697967529297, -3.546725034713745, -2.5305800437927246], [-0.6778697967529297, -3.546725034713745, -2.5305800437927246], [-0.9193512797355652, -3.546725034713745, -2.4658753871917725], [-1.1608327627182007, -3.546725034713745, -2.4011707305908203], [-1.4023141860961914, -3.546725034713745, -2.336466073989868], [-1.6437956094741821, -3.546725034713745, -2.271761417388916], [-1.8852770328521729, -3.546725034713745, -2.207056760787964], [-2.126758575439453, -3.546725034713745, -2.1423521041870117], [-2.3682401180267334, -3.546725034713745, -2.0776474475860596], [-2.6097216606140137, -3.546725034713745, -2.0129427909851074], [-2.851203203201294, -3.546725034713745, -1.9482380151748657], [-3.092684745788574, -3.546725034713745, -1.883533239364624], [-3.3341662883758545, -3.546725034713745, -1.8188284635543823], [-3.550672769546509, -3.546725034713745, -1.6938284635543823], [-3.767179250717163, -3.546725034713745, -1.5688284635543823], [-3.9836857318878174, -3.546725034713745, -1.4438284635543823], [-4.200191974639893, -3.546725034713745, -1.3188284635543823], [-4.441673278808594, -3.546725034713745, -1.2541236877441406], [-4.658179759979248, -3.515378713607788, -1.1291236877441406], [-4.874686241149902, -3.4810497760772705, -1.0041236877441406], [-5.091192722320557, -3.4345362186431885, -0.8791236877441406], [-5.307699203491211, -3.379730224609375, -0.7541236877441406], [-5.524205684661865, -3.283510446548462, -0.6291236877441406], [-5.7407121658325195, -3.152060031890869, -0.5041236877441406], [-5.957218647003174, -3.02843976020813, -0.37912365794181824], [-6.173725128173828, -2.9880988597869873, -0.25412362813949585], [-6.390231609344482, -2.948664903640747, -0.12912359833717346], [-6.606738090515137, -2.9467251300811768, -0.004123568534851074], [-6.783514976501465, -2.9467251300811768, 0.17265310883522034], [-6.960291862487793, -2.9467251300811768, 0.34942978620529175]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 83, "episode_id": "84", "scene_id": "b8cTxDM8gDG", "instruction": "Walk up the first set of stairs you see. Stop at the top of the stairs on the welcome mat. ", "start_position": [4.32213020324707, -3.546725034713745, -2.5305800437927246], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-7.2327799797058105, -2.9014892578125, 0.5498660206794739], "goal_radius": 3.0, "reference_path": "[[4.32213020324707, -3.546725034713745, -2.5305800437927246], [1.6184200048446655, -3.546725034713745, -2.471950054168701], [-0.9646999835968018, -3.546725034713745, -2.5132899284362793], [-4.8686299324035645, -3.4891011714935303, -1.090939998626709], [-7.2327799797058105, -2.9014892578125, 0.5498660206794739]]", "geodesic_distance": 12.039117813110352, "gt_locations": "[[4.32213020324707, -3.546725034713745, -2.5305800437927246], [4.07213020324707, -3.546725034713745, -2.5305800437927246], [3.8221302032470703, -3.546725034713745, -2.5305800437927246], [3.5721302032470703, -3.546725034713745, -2.5305800437927246], [3.3221302032470703, -3.546725034713745, -2.5305800437927246], [3.0721302032470703, -3.546725034713745, -2.5305800437927246], [2.8221302032470703, -3.546725034713745, -2.5305800437927246], [2.5721302032470703, -3.546725034713745, -2.5305800437927246], [2.3221302032470703, -3.546725034713745, -2.5305800437927246], [2.0721302032470703, -3.546725034713745, -2.5305800437927246], [1.8221302032470703, -3.546725034713745, -2.5305800437927246], [1.5721302032470703, -3.546725034713745, -2.5305800437927246], [1.3221302032470703, -3.546725034713745, -2.5305800437927246], [1.0721302032470703, -3.546725034713745, -2.5305800437927246], [0.8221302032470703, -3.546725034713745, -2.5305800437927246], [0.5721302032470703, -3.546725034713745, -2.5305800437927246], [0.3221302032470703, -3.546725034713745, -2.5305800437927246], [0.07213020324707031, -3.546725034713745, -2.5305800437927246], [-0.1778697967529297, -3.546725034713745, -2.5305800437927246], [-0.4278697967529297, -3.546725034713745, -2.5305800437927246], [-0.6778697967529297, -3.546725034713745, -2.5305800437927246], [-0.9193512797355652, -3.546725034713745, -2.4658753871917725], [-1.1608327627182007, -3.546725034713745, -2.4011707305908203], [-1.4023141860961914, -3.546725034713745, -2.336466073989868], [-1.6437956094741821, -3.546725034713745, -2.271761417388916], [-1.8852770328521729, -3.546725034713745, -2.207056760787964], [-2.126758575439453, -3.546725034713745, -2.1423521041870117], [-2.3682401180267334, -3.546725034713745, -2.0776474475860596], [-2.6097216606140137, -3.546725034713745, -2.0129427909851074], [-2.851203203201294, -3.546725034713745, -1.9482380151748657], [-3.092684745788574, -3.546725034713745, -1.883533239364624], [-3.3341662883758545, -3.546725034713745, -1.8188284635543823], [-3.550672769546509, -3.546725034713745, -1.6938284635543823], [-3.767179250717163, -3.546725034713745, -1.5688284635543823], [-3.9836857318878174, -3.546725034713745, -1.4438284635543823], [-4.200191974639893, -3.546725034713745, -1.3188284635543823], [-4.441673278808594, -3.546725034713745, -1.2541236877441406], [-4.658179759979248, -3.515378713607788, -1.1291236877441406], [-4.874686241149902, -3.4810497760772705, -1.0041236877441406], [-5.091192722320557, -3.4345362186431885, -0.8791236877441406], [-5.307699203491211, -3.379730224609375, -0.7541236877441406], [-5.524205684661865, -3.283510446548462, -0.6291236877441406], [-5.7407121658325195, -3.152060031890869, -0.5041236877441406], [-5.957218647003174, -3.02843976020813, -0.37912365794181824], [-6.173725128173828, -2.9880988597869873, -0.25412362813949585], [-6.390231609344482, -2.948664903640747, -0.12912359833717346], [-6.606738090515137, -2.9467251300811768, -0.004123568534851074], [-6.783514976501465, -2.9467251300811768, 0.17265310883522034], [-6.960291862487793, -2.9467251300811768, 0.34942978620529175]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 84, "episode_id": "85", "scene_id": "b8cTxDM8gDG", "instruction": "Move forward towards  the right, following the circular shapes on the floor up the stairwell into the house. ", "start_position": [4.32213020324707, -3.546725034713745, -2.5305800437927246], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-7.2327799797058105, -2.9014892578125, 0.5498660206794739], "goal_radius": 3.0, "reference_path": "[[4.32213020324707, -3.546725034713745, -2.5305800437927246], [1.6184200048446655, -3.546725034713745, -2.471950054168701], [-0.9646999835968018, -3.546725034713745, -2.5132899284362793], [-4.8686299324035645, -3.4891011714935303, -1.090939998626709], [-7.2327799797058105, -2.9014892578125, 0.5498660206794739]]", "geodesic_distance": 12.039117813110352, "gt_locations": "[[4.32213020324707, -3.546725034713745, -2.5305800437927246], [4.07213020324707, -3.546725034713745, -2.5305800437927246], [3.8221302032470703, -3.546725034713745, -2.5305800437927246], [3.5721302032470703, -3.546725034713745, -2.5305800437927246], [3.3221302032470703, -3.546725034713745, -2.5305800437927246], [3.0721302032470703, -3.546725034713745, -2.5305800437927246], [2.8221302032470703, -3.546725034713745, -2.5305800437927246], [2.5721302032470703, -3.546725034713745, -2.5305800437927246], [2.3221302032470703, -3.546725034713745, -2.5305800437927246], [2.0721302032470703, -3.546725034713745, -2.5305800437927246], [1.8221302032470703, -3.546725034713745, -2.5305800437927246], [1.5721302032470703, -3.546725034713745, -2.5305800437927246], [1.3221302032470703, -3.546725034713745, -2.5305800437927246], [1.0721302032470703, -3.546725034713745, -2.5305800437927246], [0.8221302032470703, -3.546725034713745, -2.5305800437927246], [0.5721302032470703, -3.546725034713745, -2.5305800437927246], [0.3221302032470703, -3.546725034713745, -2.5305800437927246], [0.07213020324707031, -3.546725034713745, -2.5305800437927246], [-0.1778697967529297, -3.546725034713745, -2.5305800437927246], [-0.4278697967529297, -3.546725034713745, -2.5305800437927246], [-0.6778697967529297, -3.546725034713745, -2.5305800437927246], [-0.9193512797355652, -3.546725034713745, -2.4658753871917725], [-1.1608327627182007, -3.546725034713745, -2.4011707305908203], [-1.4023141860961914, -3.546725034713745, -2.336466073989868], [-1.6437956094741821, -3.546725034713745, -2.271761417388916], [-1.8852770328521729, -3.546725034713745, -2.207056760787964], [-2.126758575439453, -3.546725034713745, -2.1423521041870117], [-2.3682401180267334, -3.546725034713745, -2.0776474475860596], [-2.6097216606140137, -3.546725034713745, -2.0129427909851074], [-2.851203203201294, -3.546725034713745, -1.9482380151748657], [-3.092684745788574, -3.546725034713745, -1.883533239364624], [-3.3341662883758545, -3.546725034713745, -1.8188284635543823], [-3.550672769546509, -3.546725034713745, -1.6938284635543823], [-3.767179250717163, -3.546725034713745, -1.5688284635543823], [-3.9836857318878174, -3.546725034713745, -1.4438284635543823], [-4.200191974639893, -3.546725034713745, -1.3188284635543823], [-4.441673278808594, -3.546725034713745, -1.2541236877441406], [-4.658179759979248, -3.515378713607788, -1.1291236877441406], [-4.874686241149902, -3.4810497760772705, -1.0041236877441406], [-5.091192722320557, -3.4345362186431885, -0.8791236877441406], [-5.307699203491211, -3.379730224609375, -0.7541236877441406], [-5.524205684661865, -3.283510446548462, -0.6291236877441406], [-5.7407121658325195, -3.152060031890869, -0.5041236877441406], [-5.957218647003174, -3.02843976020813, -0.37912365794181824], [-6.173725128173828, -2.9880988597869873, -0.25412362813949585], [-6.390231609344482, -2.948664903640747, -0.12912359833717346], [-6.606738090515137, -2.9467251300811768, -0.004123568534851074], [-6.783514976501465, -2.9467251300811768, 0.17265310883522034], [-6.960291862487793, -2.9467251300811768, 0.34942978620529175]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 85, "episode_id": "86", "scene_id": "VzqfbhrpDEA", "instruction": "Turn right and walk past the kitchen. Continue straight past the sink and turn left, then right to go out the door into the dining room. Turn left and wait by the wine room. ", "start_position": [-19.44409942626953, 0.09100902080535889, 3.722759962081909], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-10.428999900817871, 0.09100902080535889, -2.2516400814056396], "goal_radius": 3.0, "reference_path": "[[-19.44409942626953, 0.09100902080535889, 3.722759962081909], [-16.878799438476562, 0.09100902080535889, 2.7114999294281006], [-14.619999885559082, 0.09100902080535889, 3.2098000049591064], [-12.979499816894531, 0.09100902080535889, 3.480649948120117], [-10.490300178527832, 0.09100902080535889, 1.2734800577163696], [-9.498310089111328, 0.09100902080535889, 0.6544849872589111], [-10.428999900817871, 0.09100902080535889, -2.2516400814056396]]", "geodesic_distance": 13.85936450958252, "gt_locations": "[[-19.44409942626953, 0.09100902080535889, 3.722759962081909], [-19.202617645263672, 0.09100902080535889, 3.658055305480957], [-18.961135864257812, 0.09100902080535889, 3.593350648880005], [-18.74462890625, 0.09100902080535889, 3.468350648880005], [-18.528121948242188, 0.09100902080535889, 3.343350648880005], [-18.311614990234375, 0.09100902080535889, 3.218350648880005], [-18.070133209228516, 0.09100902080535889, 3.1536459922790527], [-17.828651428222656, 0.09100902080535889, 3.0889413356781006], [-17.587169647216797, 0.09100902080535889, 3.0242366790771484], [-17.345687866210938, 0.09100902080535889, 2.9595320224761963], [-17.129180908203125, 0.09100902080535889, 2.8345320224761963], [-16.879180908203125, 0.09100902080535889, 2.8345320224761963], [-16.629180908203125, 0.09100902080535889, 2.8345320224761963], [-16.387699127197266, 0.09100902080535889, 2.8992366790771484], [-16.146217346191406, 0.09100902080535889, 2.9639413356781006], [-15.904735565185547, 0.09100902080535889, 3.0286459922790527], [-15.663253784179688, 0.09100902080535889, 3.093350648880005], [-15.421772003173828, 0.09100902080535889, 3.158055305480957], [-15.171772003173828, 0.09100902080535889, 3.158055305480957], [-14.921772003173828, 0.09100902080535889, 3.158055305480957], [-14.671772003173828, 0.09100902080535889, 3.158055305480957], [-14.430290222167969, 0.09100902080535889, 3.222759962081909], [-14.18880844116211, 0.09100902080535889, 3.2874646186828613], [-13.94732666015625, 0.09100902080535889, 3.3521692752838135], [-13.70584487915039, 0.09100902080535889, 3.4168739318847656], [-13.45584487915039, 0.09100902080535889, 3.4168739318847656], [-13.214363098144531, 0.09100902080535889, 3.3521690368652344], [-12.972881317138672, 0.09100902080535889, 3.287464141845703], [-12.731399536132812, 0.09100902080535889, 3.222759246826172], [-12.514893531799316, 0.09100902080535889, 3.097759246826172], [-12.338116645812988, 0.09100902080535889, 2.920982599258423], [-12.213116645812988, 0.09100902080535889, 2.7044761180877686], [-12.088116645812988, 0.09100902080535889, 2.4879696369171143], [-11.963116645812988, 0.09100902080535889, 2.27146315574646], [-11.838116645812988, 0.09100902080535889, 2.0549566745758057], [-11.713116645812988, 0.09100902080535889, 1.838450312614441], [-11.53633975982666, 0.09100902080535889, 1.6616735458374023], [-11.2948579788208, 0.09100902080535889, 1.596968650817871], [-11.053376197814941, 0.09100902080535889, 1.5322637557983398], [-10.836870193481445, 0.09100902080535889, 1.4072637557983398], [-10.595388412475586, 0.09100902080535889, 1.3425588607788086], [-10.353906631469727, 0.09100902080535889, 1.2778539657592773], [-10.112424850463867, 0.09100902080535889, 1.213149070739746], [-9.895918846130371, 0.09100902080535889, 1.088149070739746], [-9.719141960144043, 0.09100902080535889, 0.9113723039627075], [-9.783846855163574, 0.09100902080535889, 0.6698908805847168], [-9.848551750183105, 0.09100902080535889, 0.4284094572067261], [-9.913256645202637, 0.09100902080535889, 0.18692801892757416], [-9.977961540222168, 0.09100902080535889, -0.05455341935157776], [-10.0426664352417, 0.09100902080535889, -0.29603487253189087], [-10.10737133026123, 0.09100902080535889, -0.5375162959098816], [-10.172076225280762, 0.09100902080535889, -0.7789977192878723], [-10.172076225280762, 0.09100902080535889, -1.0289976596832275], [-10.172076225280762, 0.09100902080535889, -1.2789976596832275], [-10.172076225280762, 0.09100902080535889, -1.5289976596832275], [-10.236781120300293, 0.09100902080535889, -1.7704790830612183], [-10.301486015319824, 0.09100902080535889, -2.011960506439209]]", "gt_actions": "[2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 86, "episode_id": "87", "scene_id": "VzqfbhrpDEA", "instruction": "Walk towards the kitchen and into the pantry. Go through the pantry into the dining room and take a left. Stop outside of the wine room. ", "start_position": [-19.44409942626953, 0.09100902080535889, 3.722759962081909], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-10.428999900817871, 0.09100902080535889, -2.2516400814056396], "goal_radius": 3.0, "reference_path": "[[-19.44409942626953, 0.09100902080535889, 3.722759962081909], [-16.878799438476562, 0.09100902080535889, 2.7114999294281006], [-14.619999885559082, 0.09100902080535889, 3.2098000049591064], [-12.979499816894531, 0.09100902080535889, 3.480649948120117], [-10.490300178527832, 0.09100902080535889, 1.2734800577163696], [-9.498310089111328, 0.09100902080535889, 0.6544849872589111], [-10.428999900817871, 0.09100902080535889, -2.2516400814056396]]", "geodesic_distance": 13.85936450958252, "gt_locations": "[[-19.44409942626953, 0.09100902080535889, 3.722759962081909], [-19.202617645263672, 0.09100902080535889, 3.658055305480957], [-18.961135864257812, 0.09100902080535889, 3.593350648880005], [-18.74462890625, 0.09100902080535889, 3.468350648880005], [-18.528121948242188, 0.09100902080535889, 3.343350648880005], [-18.311614990234375, 0.09100902080535889, 3.218350648880005], [-18.070133209228516, 0.09100902080535889, 3.1536459922790527], [-17.828651428222656, 0.09100902080535889, 3.0889413356781006], [-17.587169647216797, 0.09100902080535889, 3.0242366790771484], [-17.345687866210938, 0.09100902080535889, 2.9595320224761963], [-17.129180908203125, 0.09100902080535889, 2.8345320224761963], [-16.879180908203125, 0.09100902080535889, 2.8345320224761963], [-16.629180908203125, 0.09100902080535889, 2.8345320224761963], [-16.387699127197266, 0.09100902080535889, 2.8992366790771484], [-16.146217346191406, 0.09100902080535889, 2.9639413356781006], [-15.904735565185547, 0.09100902080535889, 3.0286459922790527], [-15.663253784179688, 0.09100902080535889, 3.093350648880005], [-15.421772003173828, 0.09100902080535889, 3.158055305480957], [-15.171772003173828, 0.09100902080535889, 3.158055305480957], [-14.921772003173828, 0.09100902080535889, 3.158055305480957], [-14.671772003173828, 0.09100902080535889, 3.158055305480957], [-14.430290222167969, 0.09100902080535889, 3.222759962081909], [-14.18880844116211, 0.09100902080535889, 3.2874646186828613], [-13.94732666015625, 0.09100902080535889, 3.3521692752838135], [-13.70584487915039, 0.09100902080535889, 3.4168739318847656], [-13.45584487915039, 0.09100902080535889, 3.4168739318847656], [-13.214363098144531, 0.09100902080535889, 3.3521690368652344], [-12.972881317138672, 0.09100902080535889, 3.287464141845703], [-12.731399536132812, 0.09100902080535889, 3.222759246826172], [-12.514893531799316, 0.09100902080535889, 3.097759246826172], [-12.338116645812988, 0.09100902080535889, 2.920982599258423], [-12.213116645812988, 0.09100902080535889, 2.7044761180877686], [-12.088116645812988, 0.09100902080535889, 2.4879696369171143], [-11.963116645812988, 0.09100902080535889, 2.27146315574646], [-11.838116645812988, 0.09100902080535889, 2.0549566745758057], [-11.713116645812988, 0.09100902080535889, 1.838450312614441], [-11.53633975982666, 0.09100902080535889, 1.6616735458374023], [-11.2948579788208, 0.09100902080535889, 1.596968650817871], [-11.053376197814941, 0.09100902080535889, 1.5322637557983398], [-10.836870193481445, 0.09100902080535889, 1.4072637557983398], [-10.595388412475586, 0.09100902080535889, 1.3425588607788086], [-10.353906631469727, 0.09100902080535889, 1.2778539657592773], [-10.112424850463867, 0.09100902080535889, 1.213149070739746], [-9.895918846130371, 0.09100902080535889, 1.088149070739746], [-9.719141960144043, 0.09100902080535889, 0.9113723039627075], [-9.783846855163574, 0.09100902080535889, 0.6698908805847168], [-9.848551750183105, 0.09100902080535889, 0.4284094572067261], [-9.913256645202637, 0.09100902080535889, 0.18692801892757416], [-9.977961540222168, 0.09100902080535889, -0.05455341935157776], [-10.0426664352417, 0.09100902080535889, -0.29603487253189087], [-10.10737133026123, 0.09100902080535889, -0.5375162959098816], [-10.172076225280762, 0.09100902080535889, -0.7789977192878723], [-10.172076225280762, 0.09100902080535889, -1.0289976596832275], [-10.172076225280762, 0.09100902080535889, -1.2789976596832275], [-10.172076225280762, 0.09100902080535889, -1.5289976596832275], [-10.236781120300293, 0.09100902080535889, -1.7704790830612183], [-10.301486015319824, 0.09100902080535889, -2.011960506439209]]", "gt_actions": "[2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 87, "episode_id": "88", "scene_id": "VzqfbhrpDEA", "instruction": "Turn left. Walk out of kitchen on right side. Turn left at door. Walk through pantry. Turn left at door. Walk around table. Stop at doorway to wine room. ", "start_position": [-19.44409942626953, 0.09100902080535889, 3.722759962081909], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-10.428999900817871, 0.09100902080535889, -2.2516400814056396], "goal_radius": 3.0, "reference_path": "[[-19.44409942626953, 0.09100902080535889, 3.722759962081909], [-16.878799438476562, 0.09100902080535889, 2.7114999294281006], [-14.619999885559082, 0.09100902080535889, 3.2098000049591064], [-12.979499816894531, 0.09100902080535889, 3.480649948120117], [-10.490300178527832, 0.09100902080535889, 1.2734800577163696], [-9.498310089111328, 0.09100902080535889, 0.6544849872589111], [-10.428999900817871, 0.09100902080535889, -2.2516400814056396]]", "geodesic_distance": 13.85936450958252, "gt_locations": "[[-19.44409942626953, 0.09100902080535889, 3.722759962081909], [-19.202617645263672, 0.09100902080535889, 3.658055305480957], [-18.961135864257812, 0.09100902080535889, 3.593350648880005], [-18.74462890625, 0.09100902080535889, 3.468350648880005], [-18.528121948242188, 0.09100902080535889, 3.343350648880005], [-18.311614990234375, 0.09100902080535889, 3.218350648880005], [-18.070133209228516, 0.09100902080535889, 3.1536459922790527], [-17.828651428222656, 0.09100902080535889, 3.0889413356781006], [-17.587169647216797, 0.09100902080535889, 3.0242366790771484], [-17.345687866210938, 0.09100902080535889, 2.9595320224761963], [-17.129180908203125, 0.09100902080535889, 2.8345320224761963], [-16.879180908203125, 0.09100902080535889, 2.8345320224761963], [-16.629180908203125, 0.09100902080535889, 2.8345320224761963], [-16.387699127197266, 0.09100902080535889, 2.8992366790771484], [-16.146217346191406, 0.09100902080535889, 2.9639413356781006], [-15.904735565185547, 0.09100902080535889, 3.0286459922790527], [-15.663253784179688, 0.09100902080535889, 3.093350648880005], [-15.421772003173828, 0.09100902080535889, 3.158055305480957], [-15.171772003173828, 0.09100902080535889, 3.158055305480957], [-14.921772003173828, 0.09100902080535889, 3.158055305480957], [-14.671772003173828, 0.09100902080535889, 3.158055305480957], [-14.430290222167969, 0.09100902080535889, 3.222759962081909], [-14.18880844116211, 0.09100902080535889, 3.2874646186828613], [-13.94732666015625, 0.09100902080535889, 3.3521692752838135], [-13.70584487915039, 0.09100902080535889, 3.4168739318847656], [-13.45584487915039, 0.09100902080535889, 3.4168739318847656], [-13.214363098144531, 0.09100902080535889, 3.3521690368652344], [-12.972881317138672, 0.09100902080535889, 3.287464141845703], [-12.731399536132812, 0.09100902080535889, 3.222759246826172], [-12.514893531799316, 0.09100902080535889, 3.097759246826172], [-12.338116645812988, 0.09100902080535889, 2.920982599258423], [-12.213116645812988, 0.09100902080535889, 2.7044761180877686], [-12.088116645812988, 0.09100902080535889, 2.4879696369171143], [-11.963116645812988, 0.09100902080535889, 2.27146315574646], [-11.838116645812988, 0.09100902080535889, 2.0549566745758057], [-11.713116645812988, 0.09100902080535889, 1.838450312614441], [-11.53633975982666, 0.09100902080535889, 1.6616735458374023], [-11.2948579788208, 0.09100902080535889, 1.596968650817871], [-11.053376197814941, 0.09100902080535889, 1.5322637557983398], [-10.836870193481445, 0.09100902080535889, 1.4072637557983398], [-10.595388412475586, 0.09100902080535889, 1.3425588607788086], [-10.353906631469727, 0.09100902080535889, 1.2778539657592773], [-10.112424850463867, 0.09100902080535889, 1.213149070739746], [-9.895918846130371, 0.09100902080535889, 1.088149070739746], [-9.719141960144043, 0.09100902080535889, 0.9113723039627075], [-9.783846855163574, 0.09100902080535889, 0.6698908805847168], [-9.848551750183105, 0.09100902080535889, 0.4284094572067261], [-9.913256645202637, 0.09100902080535889, 0.18692801892757416], [-9.977961540222168, 0.09100902080535889, -0.05455341935157776], [-10.0426664352417, 0.09100902080535889, -0.29603487253189087], [-10.10737133026123, 0.09100902080535889, -0.5375162959098816], [-10.172076225280762, 0.09100902080535889, -0.7789977192878723], [-10.172076225280762, 0.09100902080535889, -1.0289976596832275], [-10.172076225280762, 0.09100902080535889, -1.2789976596832275], [-10.172076225280762, 0.09100902080535889, -1.5289976596832275], [-10.236781120300293, 0.09100902080535889, -1.7704790830612183], [-10.301486015319824, 0.09100902080535889, -2.011960506439209]]", "gt_actions": "[2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 88, "episode_id": "89", "scene_id": "29hnd4uzFmX", "instruction": "pass in front of couch, turn right after stairs, enter bedroom on far right. ", "start_position": [-4.109039783477783, -0.02094396948814392, 1.8870799541473389], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.0778199434280396, -0.2089579850435257, -0.7482010126113892], "goal_radius": 3.0, "reference_path": "[[-4.109039783477783, -0.02094396948814392, 1.8870799541473389], [-5.205039978027344, -0.2089579850435257, 1.78056001663208], [-4.872129917144775, -0.2089579850435257, -1.094920039176941], [-2.127310037612915, -0.2089579850435257, -2.1406400203704834], [-1.8864200115203857, -0.2089579850435257, -1.624019980430603], [-1.0778199434280396, -0.2089579850435257, -0.7482010126113892]]", "geodesic_distance": 6.6270222663879395, "gt_locations": "[[-4.109039783477783, -0.02094396948814392, 1.8870799541473389], [-4.359039783477783, -0.0914304256439209, 1.8870799541473389], [-4.609039783477783, -0.1674535721540451, 1.8870799541473389], [-4.850521087646484, -0.2089579850435257, 1.8223751783370972], [-4.850521087646484, -0.20173652470111847, 1.5723751783370972], [-4.850521087646484, -0.17063617706298828, 1.3223751783370972], [-4.850521087646484, -0.2089579850435257, 1.0723751783370972], [-4.850521087646484, -0.2089579850435257, 0.8223751783370972], [-4.850521087646484, -0.2089579850435257, 0.5723751783370972], [-4.850521087646484, -0.2089579850435257, 0.32237517833709717], [-4.850521087646484, -0.2089579850435257, 0.07237517833709717], [-4.850521087646484, -0.2089579850435257, -0.17762482166290283], [-4.850521087646484, -0.2089579850435257, -0.42762482166290283], [-4.850521087646484, -0.2089579850435257, -0.6776248216629028], [-4.673744201660156, -0.2089579850435257, -0.8544015288352966], [-4.496967315673828, -0.2089579850435257, -1.0311782360076904], [-4.280460834503174, -0.2089579850435257, -1.1561782360076904], [-4.0639543533325195, -0.2089579850435257, -1.2811782360076904], [-3.8474478721618652, -0.2089579850435257, -1.4061782360076904], [-3.630941390991211, -0.2089579850435257, -1.5311782360076904], [-3.454164743423462, -0.2089579850435257, -1.7079548835754395], [-3.277388095855713, -0.2089579850435257, -1.8847315311431885], [-3.0359065532684326, -0.2089579850435257, -1.987093448638916], [-2.7944250106811523, -0.2089579850435257, -2.0517983436584473], [-2.552943468093872, -0.2089579850435257, -2.1165032386779785], [-2.3364369869232178, -0.2089579850435257, -1.9915032386779785], [-2.1199305057525635, -0.2089579850435257, -1.8665032386779785], [-1.943153738975525, -0.2089579850435257, -1.6897265911102295], [-1.7663769721984863, -0.2089579850435257, -1.5129499435424805], [-1.5896002054214478, -0.2089579850435257, -1.3361732959747314], [-1.4128234386444092, -0.2089579850435257, -1.1593966484069824], [-1.2360466718673706, -0.2089579850435257, -0.9826200008392334]]", "gt_actions": "[1, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 89, "episode_id": "90", "scene_id": "29hnd4uzFmX", "instruction": "Turn right and walk towards the kitchen area. Turn right again and enter the rightmost room. Wait by the bedside. ", "start_position": [-4.109039783477783, -0.02094396948814392, 1.8870799541473389], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.0778199434280396, -0.2089579850435257, -0.7482010126113892], "goal_radius": 3.0, "reference_path": "[[-4.109039783477783, -0.02094396948814392, 1.8870799541473389], [-5.205039978027344, -0.2089579850435257, 1.78056001663208], [-4.872129917144775, -0.2089579850435257, -1.094920039176941], [-2.127310037612915, -0.2089579850435257, -2.1406400203704834], [-1.8864200115203857, -0.2089579850435257, -1.624019980430603], [-1.0778199434280396, -0.2089579850435257, -0.7482010126113892]]", "geodesic_distance": 6.6270222663879395, "gt_locations": "[[-4.109039783477783, -0.02094396948814392, 1.8870799541473389], [-4.359039783477783, -0.0914304256439209, 1.8870799541473389], [-4.609039783477783, -0.1674535721540451, 1.8870799541473389], [-4.850521087646484, -0.2089579850435257, 1.8223751783370972], [-4.850521087646484, -0.20173652470111847, 1.5723751783370972], [-4.850521087646484, -0.17063617706298828, 1.3223751783370972], [-4.850521087646484, -0.2089579850435257, 1.0723751783370972], [-4.850521087646484, -0.2089579850435257, 0.8223751783370972], [-4.850521087646484, -0.2089579850435257, 0.5723751783370972], [-4.850521087646484, -0.2089579850435257, 0.32237517833709717], [-4.850521087646484, -0.2089579850435257, 0.07237517833709717], [-4.850521087646484, -0.2089579850435257, -0.17762482166290283], [-4.850521087646484, -0.2089579850435257, -0.42762482166290283], [-4.850521087646484, -0.2089579850435257, -0.6776248216629028], [-4.673744201660156, -0.2089579850435257, -0.8544015288352966], [-4.496967315673828, -0.2089579850435257, -1.0311782360076904], [-4.280460834503174, -0.2089579850435257, -1.1561782360076904], [-4.0639543533325195, -0.2089579850435257, -1.2811782360076904], [-3.8474478721618652, -0.2089579850435257, -1.4061782360076904], [-3.630941390991211, -0.2089579850435257, -1.5311782360076904], [-3.454164743423462, -0.2089579850435257, -1.7079548835754395], [-3.277388095855713, -0.2089579850435257, -1.8847315311431885], [-3.0359065532684326, -0.2089579850435257, -1.987093448638916], [-2.7944250106811523, -0.2089579850435257, -2.0517983436584473], [-2.552943468093872, -0.2089579850435257, -2.1165032386779785], [-2.3364369869232178, -0.2089579850435257, -1.9915032386779785], [-2.1199305057525635, -0.2089579850435257, -1.8665032386779785], [-1.943153738975525, -0.2089579850435257, -1.6897265911102295], [-1.7663769721984863, -0.2089579850435257, -1.5129499435424805], [-1.5896002054214478, -0.2089579850435257, -1.3361732959747314], [-1.4128234386444092, -0.2089579850435257, -1.1593966484069824], [-1.2360466718673706, -0.2089579850435257, -0.9826200008392334]]", "gt_actions": "[1, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 90, "episode_id": "91", "scene_id": "29hnd4uzFmX", "instruction": "From the bottom of the stairs take a right, going past the kitchen in to the hallway. Take a right at the first bedroom and enter, stopping just in the doorway. ", "start_position": [-4.109039783477783, -0.02094396948814392, 1.8870799541473389], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.0778199434280396, -0.2089579850435257, -0.7482010126113892], "goal_radius": 3.0, "reference_path": "[[-4.109039783477783, -0.02094396948814392, 1.8870799541473389], [-5.205039978027344, -0.2089579850435257, 1.78056001663208], [-4.872129917144775, -0.2089579850435257, -1.094920039176941], [-2.127310037612915, -0.2089579850435257, -2.1406400203704834], [-1.8864200115203857, -0.2089579850435257, -1.624019980430603], [-1.0778199434280396, -0.2089579850435257, -0.7482010126113892]]", "geodesic_distance": 6.6270222663879395, "gt_locations": "[[-4.109039783477783, -0.02094396948814392, 1.8870799541473389], [-4.359039783477783, -0.0914304256439209, 1.8870799541473389], [-4.609039783477783, -0.1674535721540451, 1.8870799541473389], [-4.850521087646484, -0.2089579850435257, 1.8223751783370972], [-4.850521087646484, -0.20173652470111847, 1.5723751783370972], [-4.850521087646484, -0.17063617706298828, 1.3223751783370972], [-4.850521087646484, -0.2089579850435257, 1.0723751783370972], [-4.850521087646484, -0.2089579850435257, 0.8223751783370972], [-4.850521087646484, -0.2089579850435257, 0.5723751783370972], [-4.850521087646484, -0.2089579850435257, 0.32237517833709717], [-4.850521087646484, -0.2089579850435257, 0.07237517833709717], [-4.850521087646484, -0.2089579850435257, -0.17762482166290283], [-4.850521087646484, -0.2089579850435257, -0.42762482166290283], [-4.850521087646484, -0.2089579850435257, -0.6776248216629028], [-4.673744201660156, -0.2089579850435257, -0.8544015288352966], [-4.496967315673828, -0.2089579850435257, -1.0311782360076904], [-4.280460834503174, -0.2089579850435257, -1.1561782360076904], [-4.0639543533325195, -0.2089579850435257, -1.2811782360076904], [-3.8474478721618652, -0.2089579850435257, -1.4061782360076904], [-3.630941390991211, -0.2089579850435257, -1.5311782360076904], [-3.454164743423462, -0.2089579850435257, -1.7079548835754395], [-3.277388095855713, -0.2089579850435257, -1.8847315311431885], [-3.0359065532684326, -0.2089579850435257, -1.987093448638916], [-2.7944250106811523, -0.2089579850435257, -2.0517983436584473], [-2.552943468093872, -0.2089579850435257, -2.1165032386779785], [-2.3364369869232178, -0.2089579850435257, -1.9915032386779785], [-2.1199305057525635, -0.2089579850435257, -1.8665032386779785], [-1.943153738975525, -0.2089579850435257, -1.6897265911102295], [-1.7663769721984863, -0.2089579850435257, -1.5129499435424805], [-1.5896002054214478, -0.2089579850435257, -1.3361732959747314], [-1.4128234386444092, -0.2089579850435257, -1.1593966484069824], [-1.2360466718673706, -0.2089579850435257, -0.9826200008392334]]", "gt_actions": "[1, 1, 3, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 91, "episode_id": "92", "scene_id": "r1Q1Z4BcV1o", "instruction": "Starting in the dining hall next to the round table on your right walk forward until you reach the second square table. Walk forward between the two round tables and turn to the left. Keep the wooden pillar on your right-hand side, walk forward about six steps and wait. ", "start_position": [-19.144899368286133, 0.07537198066711426, -13.050200462341309], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-30.88249969482422, 0.07537198066711426, -10.342100143432617], "goal_radius": 3.0, "reference_path": "[[-19.144899368286133, 0.07537198066711426, -13.050200462341309], [-21.724300384521484, 0.07537198066711426, -14.048700332641602], [-25.09869956970215, 0.07537198066711426, -13.826800346374512], [-29.253700256347656, 0.07537198066711426, -12.047699928283691], [-30.88249969482422, 0.07537198066711426, -10.342100143432617]]", "geodesic_distance": 12.604231834411621, "gt_locations": "[[-19.144899368286133, 0.07537198066711426, -13.050200462341309], [-19.386381149291992, 0.07537198066711426, -13.11490535736084], [-19.62786293029785, 0.07537198066711426, -13.179610252380371], [-19.87786293029785, 0.07537198066711426, -13.179610252380371], [-20.094369888305664, 0.07537198066711426, -13.304610252380371], [-20.335851669311523, 0.07537198066711426, -13.369315147399902], [-20.577333450317383, 0.07537198066711426, -13.434020042419434], [-20.793840408325195, 0.07537198066711426, -13.559020042419434], [-21.010347366333008, 0.07537198066711426, -13.684020042419434], [-21.22685432434082, 0.07537198066711426, -13.809020042419434], [-21.443361282348633, 0.07537198066711426, -13.934020042419434], [-21.693361282348633, 0.07537198066711426, -13.934020042419434], [-21.943361282348633, 0.07537198066711426, -13.934020042419434], [-22.193361282348633, 0.07537198066711426, -13.934020042419434], [-22.443361282348633, 0.07537198066711426, -13.934020042419434], [-22.684843063354492, 0.07537198066711426, -13.869315147399902], [-22.92632484436035, 0.07537198066711426, -13.804610252380371], [-23.16780662536621, 0.07537198066711426, -13.73990535736084], [-23.421245574951172, 0.07537198066711426, -13.733025550842285], [-23.671245574951172, 0.07537198066711426, -13.733025550842285], [-23.921245574951172, 0.07537198066711426, -13.733025550842285], [-24.171245574951172, 0.07537198066711426, -13.733025550842285], [-24.421245574951172, 0.07537198066711426, -13.733025550842285], [-24.671245574951172, 0.07537198066711426, -13.733025550842285], [-24.921245574951172, 0.07537198066711426, -13.733025550842285], [-25.171245574951172, 0.07537198066711426, -13.733025550842285], [-25.421245574951172, 0.07537198066711426, -13.733025550842285], [-25.671245574951172, 0.07537198066711426, -13.733025550842285], [-25.921245574951172, 0.07537198066711426, -13.733025550842285], [-26.171245574951172, 0.07537198066711426, -13.733025550842285], [-26.421245574951172, 0.07537198066711426, -13.733025550842285], [-26.66272735595703, 0.07537198066711426, -13.668320655822754], [-26.90420913696289, 0.07537198066711426, -13.603615760803223], [-27.14569091796875, 0.07537198066711426, -13.538910865783691], [-27.38717269897461, 0.07537198066711426, -13.47420597076416], [-27.63717269897461, 0.07537198066711426, -13.47420597076416], [-27.88717269897461, 0.07537198066711426, -13.47420597076416], [-28.103679656982422, 0.07537198066711426, -13.34920597076416], [-28.320186614990234, 0.07537198066711426, -13.22420597076416], [-28.496963500976562, 0.07537198066711426, -13.047429084777832], [-28.663129806518555, 0.07537198066711426, -12.830923080444336], [-28.788129806518555, 0.07537198066711426, -12.61441707611084], [-28.964906692504883, 0.07537198066711426, -12.437640190124512], [-29.14168357849121, 0.07537198066711426, -12.260863304138184], [-29.31846046447754, 0.07537198066711426, -12.084086418151855], [-29.495237350463867, 0.07537198066711426, -11.907309532165527], [-29.672014236450195, 0.07537198066711426, -11.7305326461792], [-29.848791122436523, 0.07537198066711426, -11.553755760192871], [-30.02556800842285, 0.07537198066711426, -11.376978874206543], [-30.20234489440918, 0.07537198066711426, -11.200201988220215], [-30.379121780395508, 0.07537198066711426, -11.023425102233887], [-30.504121780395508, 0.07537198066711426, -10.80691909790039], [-30.680898666381836, 0.07537198066711426, -10.630142211914062]]", "gt_actions": "[2, 1, 1, 2, 1, 3, 3, 1, 2, 1, 1, 3, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 92, "episode_id": "93", "scene_id": "r1Q1Z4BcV1o", "instruction": "Locate the fireplace. Walk in the opposite direction across the big dining room toward the window with shades. Stop before arriving at the table in front of the Exit sign. ", "start_position": [-19.144899368286133, 0.07537198066711426, -13.050200462341309], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-30.88249969482422, 0.07537198066711426, -10.342100143432617], "goal_radius": 3.0, "reference_path": "[[-19.144899368286133, 0.07537198066711426, -13.050200462341309], [-21.724300384521484, 0.07537198066711426, -14.048700332641602], [-25.09869956970215, 0.07537198066711426, -13.826800346374512], [-29.253700256347656, 0.07537198066711426, -12.047699928283691], [-30.88249969482422, 0.07537198066711426, -10.342100143432617]]", "geodesic_distance": 12.604231834411621, "gt_locations": "[[-19.144899368286133, 0.07537198066711426, -13.050200462341309], [-19.386381149291992, 0.07537198066711426, -13.11490535736084], [-19.62786293029785, 0.07537198066711426, -13.179610252380371], [-19.87786293029785, 0.07537198066711426, -13.179610252380371], [-20.094369888305664, 0.07537198066711426, -13.304610252380371], [-20.335851669311523, 0.07537198066711426, -13.369315147399902], [-20.577333450317383, 0.07537198066711426, -13.434020042419434], [-20.793840408325195, 0.07537198066711426, -13.559020042419434], [-21.010347366333008, 0.07537198066711426, -13.684020042419434], [-21.22685432434082, 0.07537198066711426, -13.809020042419434], [-21.443361282348633, 0.07537198066711426, -13.934020042419434], [-21.693361282348633, 0.07537198066711426, -13.934020042419434], [-21.943361282348633, 0.07537198066711426, -13.934020042419434], [-22.193361282348633, 0.07537198066711426, -13.934020042419434], [-22.443361282348633, 0.07537198066711426, -13.934020042419434], [-22.684843063354492, 0.07537198066711426, -13.869315147399902], [-22.92632484436035, 0.07537198066711426, -13.804610252380371], [-23.16780662536621, 0.07537198066711426, -13.73990535736084], [-23.421245574951172, 0.07537198066711426, -13.733025550842285], [-23.671245574951172, 0.07537198066711426, -13.733025550842285], [-23.921245574951172, 0.07537198066711426, -13.733025550842285], [-24.171245574951172, 0.07537198066711426, -13.733025550842285], [-24.421245574951172, 0.07537198066711426, -13.733025550842285], [-24.671245574951172, 0.07537198066711426, -13.733025550842285], [-24.921245574951172, 0.07537198066711426, -13.733025550842285], [-25.171245574951172, 0.07537198066711426, -13.733025550842285], [-25.421245574951172, 0.07537198066711426, -13.733025550842285], [-25.671245574951172, 0.07537198066711426, -13.733025550842285], [-25.921245574951172, 0.07537198066711426, -13.733025550842285], [-26.171245574951172, 0.07537198066711426, -13.733025550842285], [-26.421245574951172, 0.07537198066711426, -13.733025550842285], [-26.66272735595703, 0.07537198066711426, -13.668320655822754], [-26.90420913696289, 0.07537198066711426, -13.603615760803223], [-27.14569091796875, 0.07537198066711426, -13.538910865783691], [-27.38717269897461, 0.07537198066711426, -13.47420597076416], [-27.63717269897461, 0.07537198066711426, -13.47420597076416], [-27.88717269897461, 0.07537198066711426, -13.47420597076416], [-28.103679656982422, 0.07537198066711426, -13.34920597076416], [-28.320186614990234, 0.07537198066711426, -13.22420597076416], [-28.496963500976562, 0.07537198066711426, -13.047429084777832], [-28.663129806518555, 0.07537198066711426, -12.830923080444336], [-28.788129806518555, 0.07537198066711426, -12.61441707611084], [-28.964906692504883, 0.07537198066711426, -12.437640190124512], [-29.14168357849121, 0.07537198066711426, -12.260863304138184], [-29.31846046447754, 0.07537198066711426, -12.084086418151855], [-29.495237350463867, 0.07537198066711426, -11.907309532165527], [-29.672014236450195, 0.07537198066711426, -11.7305326461792], [-29.848791122436523, 0.07537198066711426, -11.553755760192871], [-30.02556800842285, 0.07537198066711426, -11.376978874206543], [-30.20234489440918, 0.07537198066711426, -11.200201988220215], [-30.379121780395508, 0.07537198066711426, -11.023425102233887], [-30.504121780395508, 0.07537198066711426, -10.80691909790039], [-30.680898666381836, 0.07537198066711426, -10.630142211914062]]", "gt_actions": "[2, 1, 1, 2, 1, 3, 3, 1, 2, 1, 1, 3, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 93, "episode_id": "94", "scene_id": "r1Q1Z4BcV1o", "instruction": "Facing the windows go left and then go straight. Walk to the furthest pillar on the right. Stop next to the table that is second from the wall with the windows. ", "start_position": [-19.144899368286133, 0.07537198066711426, -13.050200462341309], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-30.88249969482422, 0.07537198066711426, -10.342100143432617], "goal_radius": 3.0, "reference_path": "[[-19.144899368286133, 0.07537198066711426, -13.050200462341309], [-21.724300384521484, 0.07537198066711426, -14.048700332641602], [-25.09869956970215, 0.07537198066711426, -13.826800346374512], [-29.253700256347656, 0.07537198066711426, -12.047699928283691], [-30.88249969482422, 0.07537198066711426, -10.342100143432617]]", "geodesic_distance": 12.604231834411621, "gt_locations": "[[-19.144899368286133, 0.07537198066711426, -13.050200462341309], [-19.386381149291992, 0.07537198066711426, -13.11490535736084], [-19.62786293029785, 0.07537198066711426, -13.179610252380371], [-19.87786293029785, 0.07537198066711426, -13.179610252380371], [-20.094369888305664, 0.07537198066711426, -13.304610252380371], [-20.335851669311523, 0.07537198066711426, -13.369315147399902], [-20.577333450317383, 0.07537198066711426, -13.434020042419434], [-20.793840408325195, 0.07537198066711426, -13.559020042419434], [-21.010347366333008, 0.07537198066711426, -13.684020042419434], [-21.22685432434082, 0.07537198066711426, -13.809020042419434], [-21.443361282348633, 0.07537198066711426, -13.934020042419434], [-21.693361282348633, 0.07537198066711426, -13.934020042419434], [-21.943361282348633, 0.07537198066711426, -13.934020042419434], [-22.193361282348633, 0.07537198066711426, -13.934020042419434], [-22.443361282348633, 0.07537198066711426, -13.934020042419434], [-22.684843063354492, 0.07537198066711426, -13.869315147399902], [-22.92632484436035, 0.07537198066711426, -13.804610252380371], [-23.16780662536621, 0.07537198066711426, -13.73990535736084], [-23.421245574951172, 0.07537198066711426, -13.733025550842285], [-23.671245574951172, 0.07537198066711426, -13.733025550842285], [-23.921245574951172, 0.07537198066711426, -13.733025550842285], [-24.171245574951172, 0.07537198066711426, -13.733025550842285], [-24.421245574951172, 0.07537198066711426, -13.733025550842285], [-24.671245574951172, 0.07537198066711426, -13.733025550842285], [-24.921245574951172, 0.07537198066711426, -13.733025550842285], [-25.171245574951172, 0.07537198066711426, -13.733025550842285], [-25.421245574951172, 0.07537198066711426, -13.733025550842285], [-25.671245574951172, 0.07537198066711426, -13.733025550842285], [-25.921245574951172, 0.07537198066711426, -13.733025550842285], [-26.171245574951172, 0.07537198066711426, -13.733025550842285], [-26.421245574951172, 0.07537198066711426, -13.733025550842285], [-26.66272735595703, 0.07537198066711426, -13.668320655822754], [-26.90420913696289, 0.07537198066711426, -13.603615760803223], [-27.14569091796875, 0.07537198066711426, -13.538910865783691], [-27.38717269897461, 0.07537198066711426, -13.47420597076416], [-27.63717269897461, 0.07537198066711426, -13.47420597076416], [-27.88717269897461, 0.07537198066711426, -13.47420597076416], [-28.103679656982422, 0.07537198066711426, -13.34920597076416], [-28.320186614990234, 0.07537198066711426, -13.22420597076416], [-28.496963500976562, 0.07537198066711426, -13.047429084777832], [-28.663129806518555, 0.07537198066711426, -12.830923080444336], [-28.788129806518555, 0.07537198066711426, -12.61441707611084], [-28.964906692504883, 0.07537198066711426, -12.437640190124512], [-29.14168357849121, 0.07537198066711426, -12.260863304138184], [-29.31846046447754, 0.07537198066711426, -12.084086418151855], [-29.495237350463867, 0.07537198066711426, -11.907309532165527], [-29.672014236450195, 0.07537198066711426, -11.7305326461792], [-29.848791122436523, 0.07537198066711426, -11.553755760192871], [-30.02556800842285, 0.07537198066711426, -11.376978874206543], [-30.20234489440918, 0.07537198066711426, -11.200201988220215], [-30.379121780395508, 0.07537198066711426, -11.023425102233887], [-30.504121780395508, 0.07537198066711426, -10.80691909790039], [-30.680898666381836, 0.07537198066711426, -10.630142211914062]]", "gt_actions": "[2, 1, 1, 2, 1, 3, 3, 1, 2, 1, 1, 3, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 94, "episode_id": "95", "scene_id": "17DRP5sb8fy", "instruction": "Enter the bedroom, wait at the door to the bathroom. ", "start_position": [-4.333799839019775, 0.07244700193405151, -1.4684200286865234], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-8.216710090637207, 0.07244700193405151, 0.04253029823303223], "goal_radius": 3.0, "reference_path": "[[-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-5.48891019821167, 0.07244700193405151, -1.4484000205993652], [-6.421979904174805, 0.07244700193405151, -1.3795599937438965], [-6.9864501953125, 0.07244700193405151, -1.40146005153656], [-8.742389678955078, 0.07244700193405151, -1.1051599979400635], [-8.216710090637207, 0.07244700193405151, 0.04253029823303223]]", "geodesic_distance": 4.942983627319336, "gt_locations": "[[-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-4.583799839019775, 0.07244700193405151, -1.4684200286865234], [-4.833799839019775, 0.07244700193405151, -1.4684200286865234], [-5.083799839019775, 0.07244700193405151, -1.4684200286865234], [-5.333799839019775, 0.07244700193405151, -1.4684200286865234], [-5.583799839019775, 0.07244700193405151, -1.4684200286865234], [-5.833799839019775, 0.07244700193405151, -1.4684200286865234], [-6.083799839019775, 0.07244700193405151, -1.4684200286865234], [-6.333799839019775, 0.07244700193405151, -1.4684200286865234], [-6.583799839019775, 0.07244700193405151, -1.4684200286865234], [-6.833799839019775, 0.07244700193405151, -1.4684200286865234], [-7.075281143188477, 0.07244700193405151, -1.4037152528762817], [-7.316762447357178, 0.07244700193405151, -1.33901047706604], [-7.558243751525879, 0.07244700193405151, -1.2743057012557983], [-7.79972505569458, 0.07244700193405151, -1.2096009254455566], [-8.041206359863281, 0.07244700193405151, -1.144896149635315], [-8.291206359863281, 0.07244700193405151, -1.144896149635315], [-8.355911254882812, 0.07244700193405151, -0.9034147262573242], [-8.385143280029297, 0.07244700193405151, -0.6507571935653687], [-8.385143280029297, 0.07244700193405151, -0.40075719356536865]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 0]"}
{"id": 95, "episode_id": "96", "scene_id": "17DRP5sb8fy", "instruction": "Walk straight into the bedroom and around the bed. At the end of the bed take a left, and stop in front of the bathroom door. ", "start_position": [-4.333799839019775, 0.07244700193405151, -1.4684200286865234], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-8.216710090637207, 0.07244700193405151, 0.04253029823303223], "goal_radius": 3.0, "reference_path": "[[-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-5.48891019821167, 0.07244700193405151, -1.4484000205993652], [-6.421979904174805, 0.07244700193405151, -1.3795599937438965], [-6.9864501953125, 0.07244700193405151, -1.40146005153656], [-8.742389678955078, 0.07244700193405151, -1.1051599979400635], [-8.216710090637207, 0.07244700193405151, 0.04253029823303223]]", "geodesic_distance": 4.942983627319336, "gt_locations": "[[-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-4.583799839019775, 0.07244700193405151, -1.4684200286865234], [-4.833799839019775, 0.07244700193405151, -1.4684200286865234], [-5.083799839019775, 0.07244700193405151, -1.4684200286865234], [-5.333799839019775, 0.07244700193405151, -1.4684200286865234], [-5.583799839019775, 0.07244700193405151, -1.4684200286865234], [-5.833799839019775, 0.07244700193405151, -1.4684200286865234], [-6.083799839019775, 0.07244700193405151, -1.4684200286865234], [-6.333799839019775, 0.07244700193405151, -1.4684200286865234], [-6.583799839019775, 0.07244700193405151, -1.4684200286865234], [-6.833799839019775, 0.07244700193405151, -1.4684200286865234], [-7.075281143188477, 0.07244700193405151, -1.4037152528762817], [-7.316762447357178, 0.07244700193405151, -1.33901047706604], [-7.558243751525879, 0.07244700193405151, -1.2743057012557983], [-7.79972505569458, 0.07244700193405151, -1.2096009254455566], [-8.041206359863281, 0.07244700193405151, -1.144896149635315], [-8.291206359863281, 0.07244700193405151, -1.144896149635315], [-8.355911254882812, 0.07244700193405151, -0.9034147262573242], [-8.385143280029297, 0.07244700193405151, -0.6507571935653687], [-8.385143280029297, 0.07244700193405151, -0.40075719356536865]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 0]"}
{"id": 96, "episode_id": "97", "scene_id": "17DRP5sb8fy", "instruction": "Walk past curved sofa. Walk past bed. Wait at bathroom door threshold. ", "start_position": [-4.333799839019775, 0.07244700193405151, -1.4684200286865234], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-8.216710090637207, 0.07244700193405151, 0.04253029823303223], "goal_radius": 3.0, "reference_path": "[[-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-5.48891019821167, 0.07244700193405151, -1.4484000205993652], [-6.421979904174805, 0.07244700193405151, -1.3795599937438965], [-6.9864501953125, 0.07244700193405151, -1.40146005153656], [-8.742389678955078, 0.07244700193405151, -1.1051599979400635], [-8.216710090637207, 0.07244700193405151, 0.04253029823303223]]", "geodesic_distance": 4.942983627319336, "gt_locations": "[[-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-4.583799839019775, 0.07244700193405151, -1.4684200286865234], [-4.833799839019775, 0.07244700193405151, -1.4684200286865234], [-5.083799839019775, 0.07244700193405151, -1.4684200286865234], [-5.333799839019775, 0.07244700193405151, -1.4684200286865234], [-5.583799839019775, 0.07244700193405151, -1.4684200286865234], [-5.833799839019775, 0.07244700193405151, -1.4684200286865234], [-6.083799839019775, 0.07244700193405151, -1.4684200286865234], [-6.333799839019775, 0.07244700193405151, -1.4684200286865234], [-6.583799839019775, 0.07244700193405151, -1.4684200286865234], [-6.833799839019775, 0.07244700193405151, -1.4684200286865234], [-7.075281143188477, 0.07244700193405151, -1.4037152528762817], [-7.316762447357178, 0.07244700193405151, -1.33901047706604], [-7.558243751525879, 0.07244700193405151, -1.2743057012557983], [-7.79972505569458, 0.07244700193405151, -1.2096009254455566], [-8.041206359863281, 0.07244700193405151, -1.144896149635315], [-8.291206359863281, 0.07244700193405151, -1.144896149635315], [-8.355911254882812, 0.07244700193405151, -0.9034147262573242], [-8.385143280029297, 0.07244700193405151, -0.6507571935653687], [-8.385143280029297, 0.07244700193405151, -0.40075719356536865]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 0]"}
{"id": 97, "episode_id": "98", "scene_id": "dhjEzFoUFzH", "instruction": "Turn to the left and walk past the metal fan on the floor. Turn to the left and walk past the triangular shaped bannister.  Turn right and walk to the left corner of the room by the cabinets. 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{"id": 98, "episode_id": "99", "scene_id": "dhjEzFoUFzH", "instruction": "walk left across church to center aisle, turn left towards big glass window, take two steps and turn right, continue across room and stop in front of wall of wooden cabinets. 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{"id": 99, "episode_id": "100", "scene_id": "dhjEzFoUFzH", "instruction": "Make a slight left and walk past the metal fan then walk past the red chair to your left.  Walk through the entry way on your left and make a right and walk to and wait by the larg set of wooden locked style doors. 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{"id": 100, "episode_id": "101", "scene_id": "jh4fc5c5qoQ", "instruction": "Walk past stove. Make right through open black door. Walk past outdoor dining room. Walk up stairs. Wait at black rocking chair. ", "start_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [5.193739891052246, 0.721511960029602, 2.086440086364746], "goal_radius": 3.0, "reference_path": "[[14.178600311279297, 0.21307897567749023, -2.5309500694274902], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [5.193739891052246, 0.721511960029602, 2.086440086364746]]", "geodesic_distance": 12.540409088134766, "gt_locations": "[[14.178600311279297, 0.21307897567749023, -2.5309500694274902], [13.928600311279297, 0.1297457069158554, -2.5309500694274902], [13.678082466125488, 0.005573004484176636, -2.5392308235168457], [13.428082466125488, 0.09648175537586212, -2.5392308235168457], [13.184484481811523, 0.005573004484176636, -2.508380889892578], [12.934484481811523, 0.01781749725341797, -2.508380889892578], [12.827838897705078, 0.06306342780590057, -2.247716188430786], [12.65106201171875, 0.02648892253637314, -2.070939540863037], [12.470235824584961, 0.005573004484176636, -1.8982123136520386], [12.345235824584961, 0.06509202718734741, -1.6817059516906738], [12.220235824584961, 0.1270531415939331, -1.465199589729309], [12.152517318725586, 0.1832578033208847, -1.2251242399215698], [12.087812423706055, 0.13398146629333496, -0.9836428165435791], [12.023107528686523, 0.10396615415811539, -0.7421613931655884], [11.958402633666992, 0.11475028842687607, -0.5006799697875977], [11.958402633666992, 0.11475029587745667, -0.25067996978759766], [11.958402633666992, 0.11475029587745667, -0.0006799697875976562], [11.958402633666992, 0.12718701362609863, 0.24932003021240234], [11.958402633666992, 0.14279326796531677, 0.49932003021240234], [11.958402633666992, 0.15839949250221252, 0.7493200302124023], [11.893697738647461, 0.17937740683555603, 0.9908015131950378], [11.82899284362793, 0.20035533607006073, 1.2322829961776733], [11.764287948608398, 0.20557300746440887, 1.473764419555664], [11.639287948608398, 0.20557300746440887, 1.6902707815170288], [11.514287948608398, 0.20557300746440887, 1.9067771434783936], [11.389287948608398, 0.20557300746440887, 2.123283624649048], [11.172781944274902, 0.16438691318035126, 2.248283624649048], [10.956275939941406, 0.10126521438360214, 2.373283624649048], [10.73976993560791, 0.03814350813627243, 2.498283624649048], [10.49828815460205, 0.005573004484176636, 2.56298828125], [10.256806373596191, 0.005573004484176636, 2.627692937850952], [10.015324592590332, 0.08241189271211624, 2.6923975944519043], [9.773842811584473, 0.05735335499048233, 2.7571022510528564], [9.523842811584473, 0.027050336822867393, 2.7571022510528564], [9.273842811584473, 0.005573004484176636, 2.7571022510528564], [9.023842811584473, 0.005573004484176636, 2.7571022510528564], [8.773842811584473, 0.005573004484176636, 2.7571022510528564], [8.532361030578613, 0.005573004484176636, 2.692397356033325], [8.290879249572754, 0.005573004484176636, 2.627692461013794], [8.049397468566895, 0.005573004484176636, 2.5629875659942627], [7.807916164398193, 0.019318554550409317, 2.4982826709747314], [7.566434860229492, 0.04937842860817909, 2.4335777759552], [7.324953556060791, 0.07943831384181976, 2.368872880935669], [7.08347225189209, 0.10949818789958954, 2.3041679859161377], [6.841990947723389, 0.1395580768585205, 2.2394630908966064], [6.591990947723389, 0.1719263195991516, 2.2394630908966064], [6.341990947723389, 0.19128398597240448, 2.2394630908966064], [6.091990947723389, 0.25775739550590515, 2.2394630908966064], [5.841990947723389, 0.4259096086025238, 2.2394630908966064], [5.591990947723389, 0.6096256375312805, 2.2394630908966064]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 101, "episode_id": "102", "scene_id": "jh4fc5c5qoQ", "instruction": "Walk towards the cabinets and take a left. Walk through the doorway and take a right. Walk through another doorway. Walk up the stairs and wait by the rocking chair. ", "start_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [5.193739891052246, 0.721511960029602, 2.086440086364746], "goal_radius": 3.0, "reference_path": "[[14.178600311279297, 0.21307897567749023, -2.5309500694274902], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [5.193739891052246, 0.721511960029602, 2.086440086364746]]", "geodesic_distance": 12.540409088134766, "gt_locations": "[[14.178600311279297, 0.21307897567749023, -2.5309500694274902], [13.928600311279297, 0.1297457069158554, -2.5309500694274902], [13.678082466125488, 0.005573004484176636, -2.5392308235168457], [13.428082466125488, 0.09648175537586212, -2.5392308235168457], [13.184484481811523, 0.005573004484176636, -2.508380889892578], [12.934484481811523, 0.01781749725341797, -2.508380889892578], [12.827838897705078, 0.06306342780590057, -2.247716188430786], [12.65106201171875, 0.02648892253637314, -2.070939540863037], [12.470235824584961, 0.005573004484176636, -1.8982123136520386], [12.345235824584961, 0.06509202718734741, -1.6817059516906738], [12.220235824584961, 0.1270531415939331, -1.465199589729309], [12.152517318725586, 0.1832578033208847, -1.2251242399215698], [12.087812423706055, 0.13398146629333496, -0.9836428165435791], [12.023107528686523, 0.10396615415811539, -0.7421613931655884], [11.958402633666992, 0.11475028842687607, -0.5006799697875977], [11.958402633666992, 0.11475029587745667, -0.25067996978759766], [11.958402633666992, 0.11475029587745667, -0.0006799697875976562], [11.958402633666992, 0.12718701362609863, 0.24932003021240234], [11.958402633666992, 0.14279326796531677, 0.49932003021240234], [11.958402633666992, 0.15839949250221252, 0.7493200302124023], [11.893697738647461, 0.17937740683555603, 0.9908015131950378], [11.82899284362793, 0.20035533607006073, 1.2322829961776733], [11.764287948608398, 0.20557300746440887, 1.473764419555664], [11.639287948608398, 0.20557300746440887, 1.6902707815170288], [11.514287948608398, 0.20557300746440887, 1.9067771434783936], [11.389287948608398, 0.20557300746440887, 2.123283624649048], [11.172781944274902, 0.16438691318035126, 2.248283624649048], [10.956275939941406, 0.10126521438360214, 2.373283624649048], [10.73976993560791, 0.03814350813627243, 2.498283624649048], [10.49828815460205, 0.005573004484176636, 2.56298828125], [10.256806373596191, 0.005573004484176636, 2.627692937850952], [10.015324592590332, 0.08241189271211624, 2.6923975944519043], [9.773842811584473, 0.05735335499048233, 2.7571022510528564], [9.523842811584473, 0.027050336822867393, 2.7571022510528564], [9.273842811584473, 0.005573004484176636, 2.7571022510528564], [9.023842811584473, 0.005573004484176636, 2.7571022510528564], [8.773842811584473, 0.005573004484176636, 2.7571022510528564], [8.532361030578613, 0.005573004484176636, 2.692397356033325], [8.290879249572754, 0.005573004484176636, 2.627692461013794], [8.049397468566895, 0.005573004484176636, 2.5629875659942627], [7.807916164398193, 0.019318554550409317, 2.4982826709747314], [7.566434860229492, 0.04937842860817909, 2.4335777759552], [7.324953556060791, 0.07943831384181976, 2.368872880935669], [7.08347225189209, 0.10949818789958954, 2.3041679859161377], [6.841990947723389, 0.1395580768585205, 2.2394630908966064], [6.591990947723389, 0.1719263195991516, 2.2394630908966064], [6.341990947723389, 0.19128398597240448, 2.2394630908966064], [6.091990947723389, 0.25775739550590515, 2.2394630908966064], [5.841990947723389, 0.4259096086025238, 2.2394630908966064], [5.591990947723389, 0.6096256375312805, 2.2394630908966064]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 102, "episode_id": "103", "scene_id": "jh4fc5c5qoQ", "instruction": "Walk out the black door.Take a right out of the next doorway. Walk straight to the small flight of stairs, to the top. ", "start_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [5.193739891052246, 0.721511960029602, 2.086440086364746], "goal_radius": 3.0, "reference_path": "[[14.178600311279297, 0.21307897567749023, -2.5309500694274902], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [5.193739891052246, 0.721511960029602, 2.086440086364746]]", "geodesic_distance": 12.540409088134766, "gt_locations": "[[14.178600311279297, 0.21307897567749023, -2.5309500694274902], [13.928600311279297, 0.1297457069158554, -2.5309500694274902], [13.678082466125488, 0.005573004484176636, -2.5392308235168457], [13.428082466125488, 0.09648175537586212, -2.5392308235168457], [13.184484481811523, 0.005573004484176636, -2.508380889892578], [12.934484481811523, 0.01781749725341797, -2.508380889892578], [12.827838897705078, 0.06306342780590057, -2.247716188430786], [12.65106201171875, 0.02648892253637314, -2.070939540863037], [12.470235824584961, 0.005573004484176636, -1.8982123136520386], [12.345235824584961, 0.06509202718734741, -1.6817059516906738], [12.220235824584961, 0.1270531415939331, -1.465199589729309], [12.152517318725586, 0.1832578033208847, -1.2251242399215698], [12.087812423706055, 0.13398146629333496, -0.9836428165435791], [12.023107528686523, 0.10396615415811539, -0.7421613931655884], [11.958402633666992, 0.11475028842687607, -0.5006799697875977], [11.958402633666992, 0.11475029587745667, -0.25067996978759766], [11.958402633666992, 0.11475029587745667, -0.0006799697875976562], [11.958402633666992, 0.12718701362609863, 0.24932003021240234], [11.958402633666992, 0.14279326796531677, 0.49932003021240234], [11.958402633666992, 0.15839949250221252, 0.7493200302124023], [11.893697738647461, 0.17937740683555603, 0.9908015131950378], [11.82899284362793, 0.20035533607006073, 1.2322829961776733], [11.764287948608398, 0.20557300746440887, 1.473764419555664], [11.639287948608398, 0.20557300746440887, 1.6902707815170288], [11.514287948608398, 0.20557300746440887, 1.9067771434783936], [11.389287948608398, 0.20557300746440887, 2.123283624649048], [11.172781944274902, 0.16438691318035126, 2.248283624649048], [10.956275939941406, 0.10126521438360214, 2.373283624649048], [10.73976993560791, 0.03814350813627243, 2.498283624649048], [10.49828815460205, 0.005573004484176636, 2.56298828125], [10.256806373596191, 0.005573004484176636, 2.627692937850952], [10.015324592590332, 0.08241189271211624, 2.6923975944519043], [9.773842811584473, 0.05735335499048233, 2.7571022510528564], [9.523842811584473, 0.027050336822867393, 2.7571022510528564], [9.273842811584473, 0.005573004484176636, 2.7571022510528564], [9.023842811584473, 0.005573004484176636, 2.7571022510528564], [8.773842811584473, 0.005573004484176636, 2.7571022510528564], [8.532361030578613, 0.005573004484176636, 2.692397356033325], [8.290879249572754, 0.005573004484176636, 2.627692461013794], [8.049397468566895, 0.005573004484176636, 2.5629875659942627], [7.807916164398193, 0.019318554550409317, 2.4982826709747314], [7.566434860229492, 0.04937842860817909, 2.4335777759552], [7.324953556060791, 0.07943831384181976, 2.368872880935669], [7.08347225189209, 0.10949818789958954, 2.3041679859161377], [6.841990947723389, 0.1395580768585205, 2.2394630908966064], [6.591990947723389, 0.1719263195991516, 2.2394630908966064], [6.341990947723389, 0.19128398597240448, 2.2394630908966064], [6.091990947723389, 0.25775739550590515, 2.2394630908966064], [5.841990947723389, 0.4259096086025238, 2.2394630908966064], [5.591990947723389, 0.6096256375312805, 2.2394630908966064]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 103, "episode_id": "104", "scene_id": "S9hNv5qa7GM", "instruction": "Walk down the hallway with the washer and dryer on your right, walk all the way to the end. Walk through the doorway that is to the left of the sink, Stop immediatly once reach the doorway on the left that leads into the room with the table. ", "start_position": [1.8211599588394165, 0.11627800017595291, 5.1969099044799805], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.4418599605560303, 0.11627800017595291, 3.3139901161193848], "goal_radius": 3.0, "reference_path": "[[1.8211599588394165, 0.11627800017595291, 5.1969099044799805], [1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.4418599605560303, 0.11627800017595291, 3.3139901161193848]]", "geodesic_distance": 4.73726224899292, "gt_locations": "[[1.8211599588394165, 0.11627800017595291, 5.1969099044799805], [1.5796785354614258, 0.11627800017595291, 5.261614799499512], [1.3381969928741455, 0.11627800017595291, 5.326319694519043], [1.0881969928741455, 0.11627800017595291, 5.326319694519043], [0.8381969928741455, 0.11627800017595291, 5.326319694519043], [0.5881969928741455, 0.11627800017595291, 5.326319694519043], [0.3381969928741455, 0.11627800017595291, 5.326319694519043], [0.08819699287414551, 0.11627800017595291, 5.326319694519043], [-0.1618030071258545, 0.11627800017595291, 5.326319694519043], [-0.4118030071258545, 0.11627800017595291, 5.326319694519043], [-0.6618030071258545, 0.11627800017595291, 5.326319694519043], [-0.90328449010849, 0.11627800017595291, 5.261614799499512], [-1.1447659730911255, 0.11627800017595291, 5.1969099044799805], [-1.3862473964691162, 0.11627800017595291, 5.132205009460449], [-1.5112473964691162, 0.11627800017595291, 4.915698528289795], [-1.575952172279358, 0.11627800017595291, 4.674217224121094], [-1.6406569480895996, 0.11627800017595291, 4.432735919952393], [-1.6406569480895996, 0.11627800017595291, 4.182735919952393], [-1.6406569480895996, 0.11627800017595291, 3.9327359199523926], [-1.6406569480895996, 0.11627800017595291, 3.6827359199523926]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 104, "episode_id": "105", "scene_id": "S9hNv5qa7GM", "instruction": "Leave the laundry room and go into the kitchen. Stop next to the counter once you are in the kitchen outside of the laundry room door. ", "start_position": [1.8211599588394165, 0.11627800017595291, 5.1969099044799805], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.4418599605560303, 0.11627800017595291, 3.3139901161193848], "goal_radius": 3.0, "reference_path": "[[1.8211599588394165, 0.11627800017595291, 5.1969099044799805], [1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.4418599605560303, 0.11627800017595291, 3.3139901161193848]]", "geodesic_distance": 4.73726224899292, "gt_locations": "[[1.8211599588394165, 0.11627800017595291, 5.1969099044799805], [1.5796785354614258, 0.11627800017595291, 5.261614799499512], [1.3381969928741455, 0.11627800017595291, 5.326319694519043], [1.0881969928741455, 0.11627800017595291, 5.326319694519043], [0.8381969928741455, 0.11627800017595291, 5.326319694519043], [0.5881969928741455, 0.11627800017595291, 5.326319694519043], [0.3381969928741455, 0.11627800017595291, 5.326319694519043], [0.08819699287414551, 0.11627800017595291, 5.326319694519043], [-0.1618030071258545, 0.11627800017595291, 5.326319694519043], [-0.4118030071258545, 0.11627800017595291, 5.326319694519043], [-0.6618030071258545, 0.11627800017595291, 5.326319694519043], [-0.90328449010849, 0.11627800017595291, 5.261614799499512], [-1.1447659730911255, 0.11627800017595291, 5.1969099044799805], [-1.3862473964691162, 0.11627800017595291, 5.132205009460449], [-1.5112473964691162, 0.11627800017595291, 4.915698528289795], [-1.575952172279358, 0.11627800017595291, 4.674217224121094], [-1.6406569480895996, 0.11627800017595291, 4.432735919952393], [-1.6406569480895996, 0.11627800017595291, 4.182735919952393], [-1.6406569480895996, 0.11627800017595291, 3.9327359199523926], [-1.6406569480895996, 0.11627800017595291, 3.6827359199523926]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 105, "episode_id": "106", "scene_id": "S9hNv5qa7GM", "instruction": "Turn right and walk along the laundry room area. Exit the area through the doorway on the right. Wait there. ", "start_position": [1.8211599588394165, 0.11627800017595291, 5.1969099044799805], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.4418599605560303, 0.11627800017595291, 3.3139901161193848], "goal_radius": 3.0, "reference_path": "[[1.8211599588394165, 0.11627800017595291, 5.1969099044799805], [1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.4418599605560303, 0.11627800017595291, 3.3139901161193848]]", "geodesic_distance": 4.73726224899292, "gt_locations": "[[1.8211599588394165, 0.11627800017595291, 5.1969099044799805], [1.5796785354614258, 0.11627800017595291, 5.261614799499512], [1.3381969928741455, 0.11627800017595291, 5.326319694519043], [1.0881969928741455, 0.11627800017595291, 5.326319694519043], [0.8381969928741455, 0.11627800017595291, 5.326319694519043], [0.5881969928741455, 0.11627800017595291, 5.326319694519043], [0.3381969928741455, 0.11627800017595291, 5.326319694519043], [0.08819699287414551, 0.11627800017595291, 5.326319694519043], [-0.1618030071258545, 0.11627800017595291, 5.326319694519043], [-0.4118030071258545, 0.11627800017595291, 5.326319694519043], [-0.6618030071258545, 0.11627800017595291, 5.326319694519043], [-0.90328449010849, 0.11627800017595291, 5.261614799499512], [-1.1447659730911255, 0.11627800017595291, 5.1969099044799805], [-1.3862473964691162, 0.11627800017595291, 5.132205009460449], [-1.5112473964691162, 0.11627800017595291, 4.915698528289795], [-1.575952172279358, 0.11627800017595291, 4.674217224121094], [-1.6406569480895996, 0.11627800017595291, 4.432735919952393], [-1.6406569480895996, 0.11627800017595291, 4.182735919952393], [-1.6406569480895996, 0.11627800017595291, 3.9327359199523926], [-1.6406569480895996, 0.11627800017595291, 3.6827359199523926]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 106, "episode_id": "107", "scene_id": "rPc6DW4iMge", "instruction": "Walk up the stairs and make a right at the end of the hall. Go into the sitting room at the end of that hall and wait. ", "start_position": [1.138450026512146, -1.096428394317627, 1.2779899835586548], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-2.153830051422119, 0.15942811965942383, -4.164070129394531], "goal_radius": 3.0, "reference_path": "[[1.138450026512146, -1.096428394317627, 1.2779899835586548], [1.212689995765686, -0.313979834318161, 0.04156230017542839], [0.0895180031657219, 0.15942811965942383, -1.066390037536621], [-1.211169958114624, 0.15942811965942383, -1.22393000125885], [-2.3039300441741943, 0.15942811965942383, -1.24167001247406], [-2.188469886779785, 0.15942811965942383, -2.796689987182617], [-2.153830051422119, 0.15942811965942383, -4.164070129394531]]", "geodesic_distance": 7.520790100097656, "gt_locations": "[[1.138450026512146, -1.096428394317627, 1.2779899835586548], [1.263450026512146, -0.9409993290901184, 1.06148362159729], [1.388450026512146, -0.7563073635101318, 0.8449772596359253], [1.388450026512146, -0.6449819207191467, 0.5949772596359253], [1.3237452507019043, -0.5486464500427246, 0.3534958064556122], [1.2590404748916626, -0.374325156211853, 0.11201435327529907], [1.194335699081421, -0.16102412343025208, -0.12946709990501404], [1.069335699081421, 0.0018561333417892456, -0.3459734320640564], [0.8925589919090271, 0.09233899414539337, -0.5227501392364502], [0.6760526299476624, 0.15942811965942383, -0.6477501392364502], [0.4595462679862976, 0.15942811965942383, -0.7727501392364502], [0.2180647850036621, 0.15942811965942383, -0.8374549150466919], [-0.02341669797897339, 0.15942811965942383, -0.9021596908569336], [-0.2648981809616089, 0.15942811965942383, -0.9668644666671753], [-0.5063796639442444, 0.15942811965942383, -1.031569242477417], [-0.7478611469268799, 0.15942811965942383, -1.0962740182876587], [-0.9893426299095154, 0.15942811965942383, -1.1609787940979004], [-1.2393426895141602, 0.15942811965942383, -1.1609787940979004], [-1.4893426895141602, 0.15942811965942383, -1.1609787940979004], [-1.7393426895141602, 0.15942811965942383, -1.1609787940979004], [-1.9893426895141602, 0.15942811965942383, -1.1609787940979004], [-2.0540473461151123, 0.15942811965942383, -1.4024602174758911], [-2.1187520027160645, 0.15942811965942383, -1.6439416408538818], [-2.1834566593170166, 0.15942811965942383, -1.8854230642318726], [-2.1834566593170166, 0.15942811965942383, -2.135423183441162], [-2.1834566593170166, 0.15942811965942383, -2.385423183441162], [-2.1834566593170166, 0.15942811965942383, -2.635423183441162], [-2.1834566593170166, 0.15942811965942383, -2.885423183441162], [-2.1834566593170166, 0.15942811965942383, -3.135423183441162], [-2.1834566593170166, 0.15942811965942383, -3.385423183441162], [-2.1834566593170166, 0.15942811965942383, -3.635423183441162], [-2.1834566593170166, 0.15942811965942383, -3.885423183441162]]", "gt_actions": "[1, 1, 2, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 107, "episode_id": "108", "scene_id": "rPc6DW4iMge", "instruction": "Walk up the stairs. Take a right at the top of the stairs. Walk straight into the TV room at the end of the hall. Stop next to the door in the TV room. ", "start_position": [1.138450026512146, -1.096428394317627, 1.2779899835586548], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-2.153830051422119, 0.15942811965942383, -4.164070129394531], "goal_radius": 3.0, "reference_path": "[[1.138450026512146, -1.096428394317627, 1.2779899835586548], [1.212689995765686, -0.313979834318161, 0.04156230017542839], [0.0895180031657219, 0.15942811965942383, -1.066390037536621], [-1.211169958114624, 0.15942811965942383, -1.22393000125885], [-2.3039300441741943, 0.15942811965942383, -1.24167001247406], [-2.188469886779785, 0.15942811965942383, -2.796689987182617], [-2.153830051422119, 0.15942811965942383, -4.164070129394531]]", "geodesic_distance": 7.520790100097656, "gt_locations": "[[1.138450026512146, -1.096428394317627, 1.2779899835586548], [1.263450026512146, -0.9409993290901184, 1.06148362159729], [1.388450026512146, -0.7563073635101318, 0.8449772596359253], [1.388450026512146, -0.6449819207191467, 0.5949772596359253], [1.3237452507019043, -0.5486464500427246, 0.3534958064556122], [1.2590404748916626, -0.374325156211853, 0.11201435327529907], [1.194335699081421, -0.16102412343025208, -0.12946709990501404], [1.069335699081421, 0.0018561333417892456, -0.3459734320640564], [0.8925589919090271, 0.09233899414539337, -0.5227501392364502], [0.6760526299476624, 0.15942811965942383, -0.6477501392364502], [0.4595462679862976, 0.15942811965942383, -0.7727501392364502], [0.2180647850036621, 0.15942811965942383, -0.8374549150466919], [-0.02341669797897339, 0.15942811965942383, -0.9021596908569336], [-0.2648981809616089, 0.15942811965942383, -0.9668644666671753], [-0.5063796639442444, 0.15942811965942383, -1.031569242477417], [-0.7478611469268799, 0.15942811965942383, -1.0962740182876587], [-0.9893426299095154, 0.15942811965942383, -1.1609787940979004], [-1.2393426895141602, 0.15942811965942383, -1.1609787940979004], [-1.4893426895141602, 0.15942811965942383, -1.1609787940979004], [-1.7393426895141602, 0.15942811965942383, -1.1609787940979004], [-1.9893426895141602, 0.15942811965942383, -1.1609787940979004], [-2.0540473461151123, 0.15942811965942383, -1.4024602174758911], [-2.1187520027160645, 0.15942811965942383, -1.6439416408538818], [-2.1834566593170166, 0.15942811965942383, -1.8854230642318726], [-2.1834566593170166, 0.15942811965942383, -2.135423183441162], [-2.1834566593170166, 0.15942811965942383, -2.385423183441162], [-2.1834566593170166, 0.15942811965942383, -2.635423183441162], [-2.1834566593170166, 0.15942811965942383, -2.885423183441162], [-2.1834566593170166, 0.15942811965942383, -3.135423183441162], [-2.1834566593170166, 0.15942811965942383, -3.385423183441162], [-2.1834566593170166, 0.15942811965942383, -3.635423183441162], [-2.1834566593170166, 0.15942811965942383, -3.885423183441162]]", "gt_actions": "[1, 1, 2, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 108, "episode_id": "109", "scene_id": "rPc6DW4iMge", "instruction": "Walk up the stairs and continue straight. Turn right and walk into the sitting room. Wait by the doorway. ", "start_position": [1.138450026512146, -1.096428394317627, 1.2779899835586548], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-2.153830051422119, 0.15942811965942383, -4.164070129394531], "goal_radius": 3.0, "reference_path": "[[1.138450026512146, -1.096428394317627, 1.2779899835586548], [1.212689995765686, -0.313979834318161, 0.04156230017542839], [0.0895180031657219, 0.15942811965942383, -1.066390037536621], [-1.211169958114624, 0.15942811965942383, -1.22393000125885], [-2.3039300441741943, 0.15942811965942383, -1.24167001247406], [-2.188469886779785, 0.15942811965942383, -2.796689987182617], [-2.153830051422119, 0.15942811965942383, -4.164070129394531]]", "geodesic_distance": 7.520790100097656, "gt_locations": "[[1.138450026512146, -1.096428394317627, 1.2779899835586548], [1.263450026512146, -0.9409993290901184, 1.06148362159729], [1.388450026512146, -0.7563073635101318, 0.8449772596359253], [1.388450026512146, -0.6449819207191467, 0.5949772596359253], [1.3237452507019043, -0.5486464500427246, 0.3534958064556122], [1.2590404748916626, -0.374325156211853, 0.11201435327529907], [1.194335699081421, -0.16102412343025208, -0.12946709990501404], [1.069335699081421, 0.0018561333417892456, -0.3459734320640564], [0.8925589919090271, 0.09233899414539337, -0.5227501392364502], [0.6760526299476624, 0.15942811965942383, -0.6477501392364502], [0.4595462679862976, 0.15942811965942383, -0.7727501392364502], [0.2180647850036621, 0.15942811965942383, -0.8374549150466919], [-0.02341669797897339, 0.15942811965942383, -0.9021596908569336], [-0.2648981809616089, 0.15942811965942383, -0.9668644666671753], [-0.5063796639442444, 0.15942811965942383, -1.031569242477417], [-0.7478611469268799, 0.15942811965942383, -1.0962740182876587], [-0.9893426299095154, 0.15942811965942383, -1.1609787940979004], [-1.2393426895141602, 0.15942811965942383, -1.1609787940979004], [-1.4893426895141602, 0.15942811965942383, -1.1609787940979004], [-1.7393426895141602, 0.15942811965942383, -1.1609787940979004], [-1.9893426895141602, 0.15942811965942383, -1.1609787940979004], [-2.0540473461151123, 0.15942811965942383, -1.4024602174758911], [-2.1187520027160645, 0.15942811965942383, -1.6439416408538818], [-2.1834566593170166, 0.15942811965942383, -1.8854230642318726], [-2.1834566593170166, 0.15942811965942383, -2.135423183441162], [-2.1834566593170166, 0.15942811965942383, -2.385423183441162], [-2.1834566593170166, 0.15942811965942383, -2.635423183441162], [-2.1834566593170166, 0.15942811965942383, -2.885423183441162], [-2.1834566593170166, 0.15942811965942383, -3.135423183441162], [-2.1834566593170166, 0.15942811965942383, -3.385423183441162], [-2.1834566593170166, 0.15942811965942383, -3.635423183441162], [-2.1834566593170166, 0.15942811965942383, -3.885423183441162]]", "gt_actions": "[1, 1, 2, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 109, "episode_id": "110", "scene_id": "2n8kARJN3HM", "instruction": "Walk through the first doorway out the three - the one all the way to the left, Walk straight through the doorway directly across from in, in front of the mirror. Turn right, and stop before the long carpet. ", "start_position": [13.653599739074707, 0.13123798370361328, 1.2347999811172485], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [3.626879930496216, 0.13123798370361328, 2.8772499561309814], "goal_radius": 3.0, "reference_path": "[[13.653599739074707, 0.13123798370361328, 1.2347999811172485], [11.934399604797363, 0.13123798370361328, 1.5693999528884888], [9.772500038146973, 0.13123798370361328, 1.6854300498962402], [8.056539535522461, 0.13123798370361328, 1.5581899881362915], [6.303020000457764, 0.13123798370361328, 1.6000800132751465], [4.42195987701416, 0.13123798370361328, 1.6352399587631226], [3.626879930496216, 0.13123798370361328, 2.8772499561309814]]", "geodesic_distance": 10.46630859375, "gt_locations": "[[13.653599739074707, 0.13123798370361328, 1.2347999811172485], [13.412117958068848, 0.13123798370361328, 1.2995047569274902], [13.170636177062988, 0.13123798370361328, 1.3642096519470215], [12.929154396057129, 0.13123798370361328, 1.4289145469665527], [12.68767261505127, 0.13123798370361328, 1.493619441986084], [12.44619083404541, 0.13123798370361328, 1.5583243370056152], [12.19619083404541, 0.13123798370361328, 1.5583243370056152], [11.94619083404541, 0.13123798370361328, 1.5583243370056152], [11.69619083404541, 0.13123798370361328, 1.5583243370056152], [11.44619083404541, 0.13123798370361328, 1.5583243370056152], [11.19619083404541, 0.13123798370361328, 1.5583243370056152], [10.94619083404541, 0.13123798370361328, 1.5583243370056152], [10.69619083404541, 0.13123798370361328, 1.5583243370056152], [10.44619083404541, 0.13123798370361328, 1.5583243370056152], [10.20470905303955, 0.13123798370361328, 1.623029112815857], [9.95470905303955, 0.13123798370361328, 1.623029112815857], [9.70470905303955, 0.13123798370361328, 1.623029112815857], [9.45470905303955, 0.13123798370361328, 1.623029112815857], [9.20470905303955, 0.13123798370361328, 1.623029112815857], [8.95470905303955, 0.13123798370361328, 1.623029112815857], [8.70470905303955, 0.13123798370361328, 1.623029112815857], [8.45470905303955, 0.13123798370361328, 1.623029112815857], [8.20470905303955, 0.13123798370361328, 1.623029112815857], [7.954709053039551, 0.13123798370361328, 1.623029112815857], [7.704709053039551, 0.13123798370361328, 1.623029112815857], [7.454709053039551, 0.13123798370361328, 1.623029112815857], [7.204709053039551, 0.13123798370361328, 1.623029112815857], [6.954709053039551, 0.13123798370361328, 1.623029112815857], [6.704709053039551, 0.13123798370361328, 1.623029112815857], [6.454709053039551, 0.13123798370361328, 1.623029112815857], [6.204709053039551, 0.13123798370361328, 1.623029112815857], [5.954709053039551, 0.13123798370361328, 1.623029112815857], [5.704709053039551, 0.13123798370361328, 1.623029112815857], [5.454709053039551, 0.13123798370361328, 1.623029112815857], [5.204709053039551, 0.13123798370361328, 1.623029112815857], [4.954709053039551, 0.13123798370361328, 1.623029112815857], [4.704709053039551, 0.13123798370361328, 1.623029112815857], [4.527932167053223, 0.13123798370361328, 1.799805760383606], [4.3511552810668945, 0.13123798370361328, 1.976582407951355], [4.174378395080566, 0.13123798370361328, 2.1533591747283936], [4.039865493774414, 0.13123798370361328, 2.369865655899048], [3.914865493774414, 0.13123798370361328, 2.586372137069702]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 110, "episode_id": "111", "scene_id": "2n8kARJN3HM", "instruction": "Turn around and exit the study area. Walk across the hall towards the white stone circular item. Walk towards the mirror and turn left on the hallway. Wait there. ", "start_position": [13.653599739074707, 0.13123798370361328, 1.2347999811172485], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [3.626879930496216, 0.13123798370361328, 2.8772499561309814], "goal_radius": 3.0, "reference_path": "[[13.653599739074707, 0.13123798370361328, 1.2347999811172485], [11.934399604797363, 0.13123798370361328, 1.5693999528884888], [9.772500038146973, 0.13123798370361328, 1.6854300498962402], [8.056539535522461, 0.13123798370361328, 1.5581899881362915], [6.303020000457764, 0.13123798370361328, 1.6000800132751465], [4.42195987701416, 0.13123798370361328, 1.6352399587631226], [3.626879930496216, 0.13123798370361328, 2.8772499561309814]]", "geodesic_distance": 10.46630859375, "gt_locations": "[[13.653599739074707, 0.13123798370361328, 1.2347999811172485], [13.412117958068848, 0.13123798370361328, 1.2995047569274902], [13.170636177062988, 0.13123798370361328, 1.3642096519470215], [12.929154396057129, 0.13123798370361328, 1.4289145469665527], [12.68767261505127, 0.13123798370361328, 1.493619441986084], [12.44619083404541, 0.13123798370361328, 1.5583243370056152], [12.19619083404541, 0.13123798370361328, 1.5583243370056152], [11.94619083404541, 0.13123798370361328, 1.5583243370056152], [11.69619083404541, 0.13123798370361328, 1.5583243370056152], [11.44619083404541, 0.13123798370361328, 1.5583243370056152], [11.19619083404541, 0.13123798370361328, 1.5583243370056152], [10.94619083404541, 0.13123798370361328, 1.5583243370056152], [10.69619083404541, 0.13123798370361328, 1.5583243370056152], [10.44619083404541, 0.13123798370361328, 1.5583243370056152], [10.20470905303955, 0.13123798370361328, 1.623029112815857], [9.95470905303955, 0.13123798370361328, 1.623029112815857], [9.70470905303955, 0.13123798370361328, 1.623029112815857], [9.45470905303955, 0.13123798370361328, 1.623029112815857], [9.20470905303955, 0.13123798370361328, 1.623029112815857], [8.95470905303955, 0.13123798370361328, 1.623029112815857], [8.70470905303955, 0.13123798370361328, 1.623029112815857], [8.45470905303955, 0.13123798370361328, 1.623029112815857], [8.20470905303955, 0.13123798370361328, 1.623029112815857], [7.954709053039551, 0.13123798370361328, 1.623029112815857], [7.704709053039551, 0.13123798370361328, 1.623029112815857], [7.454709053039551, 0.13123798370361328, 1.623029112815857], [7.204709053039551, 0.13123798370361328, 1.623029112815857], [6.954709053039551, 0.13123798370361328, 1.623029112815857], [6.704709053039551, 0.13123798370361328, 1.623029112815857], [6.454709053039551, 0.13123798370361328, 1.623029112815857], [6.204709053039551, 0.13123798370361328, 1.623029112815857], [5.954709053039551, 0.13123798370361328, 1.623029112815857], [5.704709053039551, 0.13123798370361328, 1.623029112815857], [5.454709053039551, 0.13123798370361328, 1.623029112815857], [5.204709053039551, 0.13123798370361328, 1.623029112815857], [4.954709053039551, 0.13123798370361328, 1.623029112815857], [4.704709053039551, 0.13123798370361328, 1.623029112815857], [4.527932167053223, 0.13123798370361328, 1.799805760383606], [4.3511552810668945, 0.13123798370361328, 1.976582407951355], [4.174378395080566, 0.13123798370361328, 2.1533591747283936], [4.039865493774414, 0.13123798370361328, 2.369865655899048], [3.914865493774414, 0.13123798370361328, 2.586372137069702]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 111, "episode_id": "112", "scene_id": "2n8kARJN3HM", "instruction": "Walk forward with the large round dining table behind you. Walk through the arch on your left and take a left. Stop in the doorway to the hallway. ", "start_position": [13.653599739074707, 0.13123798370361328, 1.2347999811172485], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [3.626879930496216, 0.13123798370361328, 2.8772499561309814], "goal_radius": 3.0, "reference_path": "[[13.653599739074707, 0.13123798370361328, 1.2347999811172485], [11.934399604797363, 0.13123798370361328, 1.5693999528884888], [9.772500038146973, 0.13123798370361328, 1.6854300498962402], [8.056539535522461, 0.13123798370361328, 1.5581899881362915], [6.303020000457764, 0.13123798370361328, 1.6000800132751465], [4.42195987701416, 0.13123798370361328, 1.6352399587631226], [3.626879930496216, 0.13123798370361328, 2.8772499561309814]]", "geodesic_distance": 10.46630859375, "gt_locations": "[[13.653599739074707, 0.13123798370361328, 1.2347999811172485], [13.412117958068848, 0.13123798370361328, 1.2995047569274902], [13.170636177062988, 0.13123798370361328, 1.3642096519470215], [12.929154396057129, 0.13123798370361328, 1.4289145469665527], [12.68767261505127, 0.13123798370361328, 1.493619441986084], [12.44619083404541, 0.13123798370361328, 1.5583243370056152], [12.19619083404541, 0.13123798370361328, 1.5583243370056152], [11.94619083404541, 0.13123798370361328, 1.5583243370056152], [11.69619083404541, 0.13123798370361328, 1.5583243370056152], [11.44619083404541, 0.13123798370361328, 1.5583243370056152], [11.19619083404541, 0.13123798370361328, 1.5583243370056152], [10.94619083404541, 0.13123798370361328, 1.5583243370056152], [10.69619083404541, 0.13123798370361328, 1.5583243370056152], [10.44619083404541, 0.13123798370361328, 1.5583243370056152], [10.20470905303955, 0.13123798370361328, 1.623029112815857], [9.95470905303955, 0.13123798370361328, 1.623029112815857], [9.70470905303955, 0.13123798370361328, 1.623029112815857], [9.45470905303955, 0.13123798370361328, 1.623029112815857], [9.20470905303955, 0.13123798370361328, 1.623029112815857], [8.95470905303955, 0.13123798370361328, 1.623029112815857], [8.70470905303955, 0.13123798370361328, 1.623029112815857], [8.45470905303955, 0.13123798370361328, 1.623029112815857], [8.20470905303955, 0.13123798370361328, 1.623029112815857], [7.954709053039551, 0.13123798370361328, 1.623029112815857], [7.704709053039551, 0.13123798370361328, 1.623029112815857], [7.454709053039551, 0.13123798370361328, 1.623029112815857], [7.204709053039551, 0.13123798370361328, 1.623029112815857], [6.954709053039551, 0.13123798370361328, 1.623029112815857], [6.704709053039551, 0.13123798370361328, 1.623029112815857], [6.454709053039551, 0.13123798370361328, 1.623029112815857], [6.204709053039551, 0.13123798370361328, 1.623029112815857], [5.954709053039551, 0.13123798370361328, 1.623029112815857], [5.704709053039551, 0.13123798370361328, 1.623029112815857], [5.454709053039551, 0.13123798370361328, 1.623029112815857], [5.204709053039551, 0.13123798370361328, 1.623029112815857], [4.954709053039551, 0.13123798370361328, 1.623029112815857], [4.704709053039551, 0.13123798370361328, 1.623029112815857], [4.527932167053223, 0.13123798370361328, 1.799805760383606], [4.3511552810668945, 0.13123798370361328, 1.976582407951355], [4.174378395080566, 0.13123798370361328, 2.1533591747283936], [4.039865493774414, 0.13123798370361328, 2.369865655899048], [3.914865493774414, 0.13123798370361328, 2.586372137069702]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 112, "episode_id": "113", "scene_id": "p5wJjkQkbXX", "instruction": "Take a right and walk out of the kitchen. Take a left and wait by the dining room table. ", "start_position": [6.69743013381958, 0.13951505720615387, -4.998770236968994], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-2.0210800170898438, 0.11798956245183945, 2.199199914932251], "goal_radius": 3.0, "reference_path": "[[6.69743013381958, 0.13951505720615387, -4.998770236968994], [5.559430122375488, 0.21126818656921387, -3.1889801025390625], [2.7782299518585205, 0.0936344787478447, -2.1573500633239746], [-0.03938259929418564, 0.011268138885498047, -1.9844599962234497], [-2.0210800170898438, 0.11798956245183945, 2.199199914932251]]", "geodesic_distance": 11.772558212280273, "gt_locations": "[[6.69743013381958, 0.13951505720615387, -4.998770236968994], [6.57243013381958, 0.16806647181510925, -4.78226375579834], [6.44743013381958, 0.19661787152290344, -4.5657572746276855], [6.32243013381958, 0.21126818656921387, -4.349250793457031], [6.19743013381958, 0.21126818656921387, -4.132744312286377], [6.07243013381958, 0.21126818656921387, -3.9162378311157227], [5.94743013381958, 0.21126818656921387, -3.6997313499450684], [5.82243013381958, 0.21126818656921387, -3.483224868774414], [5.605923652648926, 0.21126818656921387, -3.358224868774414], [5.3894171714782715, 0.21126818656921387, -3.233224868774414], [5.172910690307617, 0.21126818656921387, -3.108224868774414], [4.956404209136963, 0.21126818656921387, -2.983224868774414], [4.739897727966309, 0.1856834590435028, -2.858224868774414], [4.523391246795654, 0.08803679794073105, -2.733224868774414], [4.306884765625, 0.015304438769817352, -2.608224868774414], [4.065403461456299, 0.027068961411714554, -2.543519973754883], [3.8488972187042236, 0.04979623109102249, -2.418519973754883], [3.6074156761169434, 0.06156075373291969, -2.3538150787353516], [3.365934133529663, 0.07332528382539749, -2.2891101837158203], [3.124452590942383, 0.08508981019258499, -2.224405288696289], [2.874452590942383, 0.08508981019258499, -2.224405288696289], [2.624452590942383, 0.08230463415384293, -2.224405288696289], [2.374452590942383, 0.06237395852804184, -2.224405288696289], [2.124452590942383, 0.042443279176950455, -2.224405288696289], [1.8744525909423828, 0.02251259610056877, -2.224405288696289], [1.6244525909423828, 0.011268138885498047, -2.224405288696289], [1.3744525909423828, 0.0681915283203125, -2.224405288696289], [1.132971167564392, 0.11962833255529404, -2.159700393676758], [0.8914896845817566, 0.060706976801157, -2.0949954986572266], [0.6500082015991211, 0.011268138885498047, -2.0302906036376953], [0.4000081717967987, 0.011268138885498047, -2.0302906036376953], [0.2750081419944763, 0.011268138885498047, -1.8137842416763306], [0.15000812709331512, 0.011268138885498047, -1.5972778797149658], [0.02500811219215393, 0.011268138885498047, -1.380771517753601], [-0.09999190270900726, 0.011268138885498047, -1.1642651557922363], [-0.22499191761016846, 0.011268138885498047, -0.9477587938308716], [-0.34999191761016846, 0.011268138885498047, -0.7312524318695068], [-0.47499191761016846, 0.011268138885498047, -0.5147460699081421], [-0.5999919176101685, 0.011268138885498047, -0.29823967814445496], [-0.7249919176101685, 0.011268138885498047, -0.08173328638076782], [-0.8499919176101685, 0.011268138885498047, 0.1347731053829193], [-0.9749919176101685, 0.011268138885498047, 0.35127949714660645], [-1.1517685651779175, 0.011268138885498047, 0.5280561447143555], [-1.3070638179779053, 0.011268138885498047, 0.7243660092353821], [-1.4320638179779053, 0.038913287222385406, 0.9408724308013916], [-1.5570638179779053, 0.07344144582748413, 1.1573787927627563], [-1.6820638179779053, 0.10796961933374405, 1.373885154724121], [-1.8070638179779053, 0.13884314894676208, 1.5903915166854858], [-1.871768593788147, 0.12287706136703491, 1.8318729400634766]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 113, "episode_id": "114", "scene_id": "p5wJjkQkbXX", "instruction": "Walk through the kitchen past the oven. Turn left, walk toward the table chairs and stop. ", "start_position": [6.69743013381958, 0.13951505720615387, -4.998770236968994], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-2.0210800170898438, 0.11798956245183945, 2.199199914932251], "goal_radius": 3.0, "reference_path": "[[6.69743013381958, 0.13951505720615387, -4.998770236968994], [5.559430122375488, 0.21126818656921387, -3.1889801025390625], [2.7782299518585205, 0.0936344787478447, -2.1573500633239746], [-0.03938259929418564, 0.011268138885498047, -1.9844599962234497], [-2.0210800170898438, 0.11798956245183945, 2.199199914932251]]", "geodesic_distance": 11.772558212280273, "gt_locations": "[[6.69743013381958, 0.13951505720615387, -4.998770236968994], [6.57243013381958, 0.16806647181510925, -4.78226375579834], [6.44743013381958, 0.19661787152290344, -4.5657572746276855], [6.32243013381958, 0.21126818656921387, -4.349250793457031], [6.19743013381958, 0.21126818656921387, -4.132744312286377], [6.07243013381958, 0.21126818656921387, -3.9162378311157227], [5.94743013381958, 0.21126818656921387, -3.6997313499450684], [5.82243013381958, 0.21126818656921387, -3.483224868774414], [5.605923652648926, 0.21126818656921387, -3.358224868774414], [5.3894171714782715, 0.21126818656921387, -3.233224868774414], [5.172910690307617, 0.21126818656921387, -3.108224868774414], [4.956404209136963, 0.21126818656921387, -2.983224868774414], [4.739897727966309, 0.1856834590435028, -2.858224868774414], [4.523391246795654, 0.08803679794073105, -2.733224868774414], [4.306884765625, 0.015304438769817352, -2.608224868774414], [4.065403461456299, 0.027068961411714554, -2.543519973754883], [3.8488972187042236, 0.04979623109102249, -2.418519973754883], [3.6074156761169434, 0.06156075373291969, -2.3538150787353516], [3.365934133529663, 0.07332528382539749, -2.2891101837158203], [3.124452590942383, 0.08508981019258499, -2.224405288696289], [2.874452590942383, 0.08508981019258499, -2.224405288696289], [2.624452590942383, 0.08230463415384293, -2.224405288696289], [2.374452590942383, 0.06237395852804184, -2.224405288696289], [2.124452590942383, 0.042443279176950455, -2.224405288696289], [1.8744525909423828, 0.02251259610056877, -2.224405288696289], [1.6244525909423828, 0.011268138885498047, -2.224405288696289], [1.3744525909423828, 0.0681915283203125, -2.224405288696289], [1.132971167564392, 0.11962833255529404, -2.159700393676758], [0.8914896845817566, 0.060706976801157, -2.0949954986572266], [0.6500082015991211, 0.011268138885498047, -2.0302906036376953], [0.4000081717967987, 0.011268138885498047, -2.0302906036376953], [0.2750081419944763, 0.011268138885498047, -1.8137842416763306], [0.15000812709331512, 0.011268138885498047, -1.5972778797149658], [0.02500811219215393, 0.011268138885498047, -1.380771517753601], [-0.09999190270900726, 0.011268138885498047, -1.1642651557922363], [-0.22499191761016846, 0.011268138885498047, -0.9477587938308716], [-0.34999191761016846, 0.011268138885498047, -0.7312524318695068], [-0.47499191761016846, 0.011268138885498047, -0.5147460699081421], [-0.5999919176101685, 0.011268138885498047, -0.29823967814445496], [-0.7249919176101685, 0.011268138885498047, -0.08173328638076782], [-0.8499919176101685, 0.011268138885498047, 0.1347731053829193], [-0.9749919176101685, 0.011268138885498047, 0.35127949714660645], [-1.1517685651779175, 0.011268138885498047, 0.5280561447143555], [-1.3070638179779053, 0.011268138885498047, 0.7243660092353821], [-1.4320638179779053, 0.038913287222385406, 0.9408724308013916], [-1.5570638179779053, 0.07344144582748413, 1.1573787927627563], [-1.6820638179779053, 0.10796961933374405, 1.373885154724121], [-1.8070638179779053, 0.13884314894676208, 1.5903915166854858], [-1.871768593788147, 0.12287706136703491, 1.8318729400634766]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 114, "episode_id": "115", "scene_id": "p5wJjkQkbXX", "instruction": "Walk straight towards stove and sink. Follow kitchen around the bar. Keep going forward until you come to a skin rug and turn left. Walk past doorway and wait by window and bench. ", "start_position": [6.69743013381958, 0.13951505720615387, -4.998770236968994], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-2.0210800170898438, 0.11798956245183945, 2.199199914932251], "goal_radius": 3.0, "reference_path": "[[6.69743013381958, 0.13951505720615387, -4.998770236968994], [5.559430122375488, 0.21126818656921387, -3.1889801025390625], [2.7782299518585205, 0.0936344787478447, -2.1573500633239746], [-0.03938259929418564, 0.011268138885498047, -1.9844599962234497], [-2.0210800170898438, 0.11798956245183945, 2.199199914932251]]", "geodesic_distance": 11.772558212280273, "gt_locations": "[[6.69743013381958, 0.13951505720615387, -4.998770236968994], [6.57243013381958, 0.16806647181510925, -4.78226375579834], [6.44743013381958, 0.19661787152290344, -4.5657572746276855], [6.32243013381958, 0.21126818656921387, -4.349250793457031], [6.19743013381958, 0.21126818656921387, -4.132744312286377], [6.07243013381958, 0.21126818656921387, -3.9162378311157227], [5.94743013381958, 0.21126818656921387, -3.6997313499450684], [5.82243013381958, 0.21126818656921387, -3.483224868774414], [5.605923652648926, 0.21126818656921387, -3.358224868774414], [5.3894171714782715, 0.21126818656921387, -3.233224868774414], [5.172910690307617, 0.21126818656921387, -3.108224868774414], [4.956404209136963, 0.21126818656921387, -2.983224868774414], [4.739897727966309, 0.1856834590435028, -2.858224868774414], [4.523391246795654, 0.08803679794073105, -2.733224868774414], [4.306884765625, 0.015304438769817352, -2.608224868774414], [4.065403461456299, 0.027068961411714554, -2.543519973754883], [3.8488972187042236, 0.04979623109102249, -2.418519973754883], [3.6074156761169434, 0.06156075373291969, -2.3538150787353516], [3.365934133529663, 0.07332528382539749, -2.2891101837158203], [3.124452590942383, 0.08508981019258499, -2.224405288696289], [2.874452590942383, 0.08508981019258499, -2.224405288696289], [2.624452590942383, 0.08230463415384293, -2.224405288696289], [2.374452590942383, 0.06237395852804184, -2.224405288696289], [2.124452590942383, 0.042443279176950455, -2.224405288696289], [1.8744525909423828, 0.02251259610056877, -2.224405288696289], [1.6244525909423828, 0.011268138885498047, -2.224405288696289], [1.3744525909423828, 0.0681915283203125, -2.224405288696289], [1.132971167564392, 0.11962833255529404, -2.159700393676758], [0.8914896845817566, 0.060706976801157, -2.0949954986572266], [0.6500082015991211, 0.011268138885498047, -2.0302906036376953], [0.4000081717967987, 0.011268138885498047, -2.0302906036376953], [0.2750081419944763, 0.011268138885498047, -1.8137842416763306], [0.15000812709331512, 0.011268138885498047, -1.5972778797149658], [0.02500811219215393, 0.011268138885498047, -1.380771517753601], [-0.09999190270900726, 0.011268138885498047, -1.1642651557922363], [-0.22499191761016846, 0.011268138885498047, -0.9477587938308716], [-0.34999191761016846, 0.011268138885498047, -0.7312524318695068], [-0.47499191761016846, 0.011268138885498047, -0.5147460699081421], [-0.5999919176101685, 0.011268138885498047, -0.29823967814445496], [-0.7249919176101685, 0.011268138885498047, -0.08173328638076782], [-0.8499919176101685, 0.011268138885498047, 0.1347731053829193], [-0.9749919176101685, 0.011268138885498047, 0.35127949714660645], [-1.1517685651779175, 0.011268138885498047, 0.5280561447143555], [-1.3070638179779053, 0.011268138885498047, 0.7243660092353821], [-1.4320638179779053, 0.038913287222385406, 0.9408724308013916], [-1.5570638179779053, 0.07344144582748413, 1.1573787927627563], [-1.6820638179779053, 0.10796961933374405, 1.373885154724121], [-1.8070638179779053, 0.13884314894676208, 1.5903915166854858], [-1.871768593788147, 0.12287706136703491, 1.8318729400634766]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 115, "episode_id": "116", "scene_id": "8WUmhLawc2A", "instruction": "Walk through the kitchen passed the stove and sink, turn right after the island and walk towards the couch. Turn left and the couch and walk towards the dining room table, stop before the table. ", "start_position": [-9.99312973022461, 0.10065700113773346, -6.626719951629639], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-3.293220043182373, 0.10065700113773346, -3.7400200366973877], "goal_radius": 3.0, "reference_path": "[[-9.99312973022461, 0.10065700113773346, -6.626719951629639], [-8.856989860534668, 0.10065700113773346, -6.699610233306885], [-7.988249778747559, 0.10065700113773346, -6.6319098472595215], [-6.426509857177734, 0.10065700113773346, -5.571990013122559], [-6.850029945373535, 0.10065700113773346, -4.315700054168701], [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-3.293220043182373, 0.10065700113773346, -3.7400200366973877]]", "geodesic_distance": 8.093189239501953, "gt_locations": "[[-9.99312973022461, 0.10065700113773346, -6.626719951629639], [-9.74312973022461, 0.10065700113773346, -6.626719951629639], [-9.49312973022461, 0.10065700113773346, -6.626719951629639], [-9.24312973022461, 0.10065700113773346, -6.626719951629639], [-8.99312973022461, 0.10065700113773346, -6.626719951629639], [-8.74312973022461, 0.10065700113773346, -6.626719951629639], [-8.49312973022461, 0.10065700113773346, -6.626719951629639], [-8.24312973022461, 0.10065700113773346, -6.626719951629639], [-8.00164794921875, 0.10065700113773346, -6.562015056610107], [-7.760166645050049, 0.10065700113773346, -6.497310161590576], [-7.5436601638793945, 0.10065700113773346, -6.372310161590576], [-7.32715368270874, 0.10065700113773346, -6.247310161590576], [-7.085672378540039, 0.10065700113773346, -6.182605266571045], [-6.894315719604492, 0.10065700113773346, -6.005828380584717], [-6.717538833618164, 0.10065700113773346, -5.829051494598389], [-6.717538833618164, 0.10065700113773346, -5.579051494598389], [-6.717538833618164, 0.10065700113773346, -5.329051494598389], [-6.717538833618164, 0.10065700113773346, -5.079051494598389], [-6.717538833618164, 0.10065700113773346, -4.829051494598389], [-6.782243728637695, 0.10065700113773346, -4.5875701904296875], [-6.565737247467041, 0.10065700113773346, -4.4625701904296875], [-6.349230766296387, 0.10065700113773346, -4.3375701904296875], [-6.132724285125732, 0.10065700113773346, -4.2125701904296875], [-5.916217803955078, 0.10065700113773346, -4.0875701904296875], [-5.699711322784424, 0.10065700113773346, -3.9625701904296875], [-5.4832048416137695, 0.10065700113773346, -3.8375701904296875], [-5.266698360443115, 0.10065700113773346, -3.7125701904296875], [-5.025217056274414, 0.10065700113773346, -3.6478652954101562], [-4.775217056274414, 0.10065700113773346, -3.6478652954101562], [-4.525217056274414, 0.10065700113773346, -3.6478652954101562], [-4.275217056274414, 0.10065700113773346, -3.6478652954101562], [-4.025217056274414, 0.10065700113773346, -3.6478652954101562], [-3.775217056274414, 0.10065700113773346, -3.6478652954101562]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 116, "episode_id": "117", "scene_id": "8WUmhLawc2A", "instruction": "Turn around and walk towards the sofas. Turn left and walk past the first archway. Turn slightly left and walk past the second archway to the left. Wait by the table. ", "start_position": [-9.99312973022461, 0.10065700113773346, -6.626719951629639], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-3.293220043182373, 0.10065700113773346, -3.7400200366973877], "goal_radius": 3.0, "reference_path": "[[-9.99312973022461, 0.10065700113773346, -6.626719951629639], [-8.856989860534668, 0.10065700113773346, -6.699610233306885], [-7.988249778747559, 0.10065700113773346, -6.6319098472595215], [-6.426509857177734, 0.10065700113773346, -5.571990013122559], [-6.850029945373535, 0.10065700113773346, -4.315700054168701], [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-3.293220043182373, 0.10065700113773346, -3.7400200366973877]]", "geodesic_distance": 8.093189239501953, "gt_locations": "[[-9.99312973022461, 0.10065700113773346, -6.626719951629639], [-9.74312973022461, 0.10065700113773346, -6.626719951629639], [-9.49312973022461, 0.10065700113773346, -6.626719951629639], [-9.24312973022461, 0.10065700113773346, -6.626719951629639], [-8.99312973022461, 0.10065700113773346, -6.626719951629639], [-8.74312973022461, 0.10065700113773346, -6.626719951629639], [-8.49312973022461, 0.10065700113773346, -6.626719951629639], [-8.24312973022461, 0.10065700113773346, -6.626719951629639], [-8.00164794921875, 0.10065700113773346, -6.562015056610107], [-7.760166645050049, 0.10065700113773346, -6.497310161590576], [-7.5436601638793945, 0.10065700113773346, -6.372310161590576], [-7.32715368270874, 0.10065700113773346, -6.247310161590576], [-7.085672378540039, 0.10065700113773346, -6.182605266571045], [-6.894315719604492, 0.10065700113773346, -6.005828380584717], [-6.717538833618164, 0.10065700113773346, -5.829051494598389], [-6.717538833618164, 0.10065700113773346, -5.579051494598389], [-6.717538833618164, 0.10065700113773346, -5.329051494598389], [-6.717538833618164, 0.10065700113773346, -5.079051494598389], [-6.717538833618164, 0.10065700113773346, -4.829051494598389], [-6.782243728637695, 0.10065700113773346, -4.5875701904296875], [-6.565737247467041, 0.10065700113773346, -4.4625701904296875], [-6.349230766296387, 0.10065700113773346, -4.3375701904296875], [-6.132724285125732, 0.10065700113773346, -4.2125701904296875], [-5.916217803955078, 0.10065700113773346, -4.0875701904296875], [-5.699711322784424, 0.10065700113773346, -3.9625701904296875], [-5.4832048416137695, 0.10065700113773346, -3.8375701904296875], [-5.266698360443115, 0.10065700113773346, -3.7125701904296875], [-5.025217056274414, 0.10065700113773346, -3.6478652954101562], [-4.775217056274414, 0.10065700113773346, -3.6478652954101562], [-4.525217056274414, 0.10065700113773346, -3.6478652954101562], [-4.275217056274414, 0.10065700113773346, -3.6478652954101562], [-4.025217056274414, 0.10065700113773346, -3.6478652954101562], [-3.775217056274414, 0.10065700113773346, -3.6478652954101562]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 117, "episode_id": "118", "scene_id": "8WUmhLawc2A", "instruction": "Turn left and then a right at the end of the countertop. Take a left and  stop just by the dining room. ", "start_position": [-9.99312973022461, 0.10065700113773346, -6.626719951629639], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-3.293220043182373, 0.10065700113773346, -3.7400200366973877], "goal_radius": 3.0, "reference_path": "[[-9.99312973022461, 0.10065700113773346, -6.626719951629639], [-8.856989860534668, 0.10065700113773346, -6.699610233306885], [-7.988249778747559, 0.10065700113773346, -6.6319098472595215], [-6.426509857177734, 0.10065700113773346, -5.571990013122559], [-6.850029945373535, 0.10065700113773346, -4.315700054168701], [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-3.293220043182373, 0.10065700113773346, -3.7400200366973877]]", "geodesic_distance": 8.093189239501953, "gt_locations": "[[-9.99312973022461, 0.10065700113773346, -6.626719951629639], [-9.74312973022461, 0.10065700113773346, -6.626719951629639], [-9.49312973022461, 0.10065700113773346, -6.626719951629639], [-9.24312973022461, 0.10065700113773346, -6.626719951629639], [-8.99312973022461, 0.10065700113773346, -6.626719951629639], [-8.74312973022461, 0.10065700113773346, -6.626719951629639], [-8.49312973022461, 0.10065700113773346, -6.626719951629639], [-8.24312973022461, 0.10065700113773346, -6.626719951629639], [-8.00164794921875, 0.10065700113773346, -6.562015056610107], [-7.760166645050049, 0.10065700113773346, -6.497310161590576], [-7.5436601638793945, 0.10065700113773346, -6.372310161590576], [-7.32715368270874, 0.10065700113773346, -6.247310161590576], [-7.085672378540039, 0.10065700113773346, -6.182605266571045], [-6.894315719604492, 0.10065700113773346, -6.005828380584717], [-6.717538833618164, 0.10065700113773346, -5.829051494598389], [-6.717538833618164, 0.10065700113773346, -5.579051494598389], [-6.717538833618164, 0.10065700113773346, -5.329051494598389], [-6.717538833618164, 0.10065700113773346, -5.079051494598389], [-6.717538833618164, 0.10065700113773346, -4.829051494598389], [-6.782243728637695, 0.10065700113773346, -4.5875701904296875], [-6.565737247467041, 0.10065700113773346, -4.4625701904296875], [-6.349230766296387, 0.10065700113773346, -4.3375701904296875], [-6.132724285125732, 0.10065700113773346, -4.2125701904296875], [-5.916217803955078, 0.10065700113773346, -4.0875701904296875], [-5.699711322784424, 0.10065700113773346, -3.9625701904296875], [-5.4832048416137695, 0.10065700113773346, -3.8375701904296875], [-5.266698360443115, 0.10065700113773346, -3.7125701904296875], [-5.025217056274414, 0.10065700113773346, -3.6478652954101562], [-4.775217056274414, 0.10065700113773346, -3.6478652954101562], [-4.525217056274414, 0.10065700113773346, -3.6478652954101562], [-4.275217056274414, 0.10065700113773346, -3.6478652954101562], [-4.025217056274414, 0.10065700113773346, -3.6478652954101562], [-3.775217056274414, 0.10065700113773346, -3.6478652954101562]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 118, "episode_id": "119", "scene_id": "qoiz87JEwZ2", "instruction": "Walk into the dining room and continue past the table. Turn left when you see an opening and walk through the living room.Walk through the living room and continue past the next opening. Stop when you enter the opening. ", "start_position": [0.11791100353002548, -3.0999951362609863, -3.810529947280884], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-4.719970226287842, -3.0999951362609863, -7.578189849853516], "goal_radius": 3.0, "reference_path": "[[0.11791100353002548, -3.0999951362609863, -3.810529947280884], [-1.4112299680709839, -3.0999951362609863, -2.7106099128723145], [-2.7895898818969727, -3.0999951362609863, -2.7855100631713867], [-4.238659858703613, -3.0999951362609863, -3.0345098972320557], [-6.7457499504089355, -3.0999951362609863, -3.790329933166504], [-5.781499862670898, -3.0999951362609863, -5.76738977432251], [-4.719970226287842, -3.0999951362609863, -7.578189849853516]]", "geodesic_distance": 10.611000061035156, "gt_locations": "[[0.11791100353002548, -3.0999951362609863, -3.810529947280884], [-0.09859534353017807, -3.0999951362609863, -3.685529947280884], [-0.315101683139801, -3.0999951362609863, -3.560529947280884], [-0.5316080451011658, -3.0999951362609863, -3.435529947280884], [-0.7481144070625305, -3.0999951362609863, -3.310529947280884], [-0.9248911142349243, -3.0999951362609863, -3.1337532997131348], [-1.101667881011963, -3.0999951362609863, -2.9569766521453857], [-1.3431493043899536, -3.0999951362609863, -2.8922719955444336], [-1.5931493043899536, -3.0999951362609863, -2.8922719955444336], [-1.8431493043899536, -3.0999951362609863, -2.8922719955444336], [-2.093149185180664, -3.0999951362609863, -2.8922719955444336], [-2.343149185180664, -3.0999951362609863, -2.8922719955444336], [-2.593149185180664, -3.0999951362609863, -2.8922719955444336], [-2.843149185180664, -3.0999951362609863, -2.8922719955444336], [-3.093149185180664, -3.0999951362609863, -2.8922719955444336], [-3.343149185180664, -3.0999951362609863, -2.8922719955444336], [-3.593149185180664, -3.0999951362609863, -2.8922719955444336], [-3.8346307277679443, -3.0999951362609863, -2.9569766521453857], [-4.076112270355225, -3.0999951362609863, -3.021681308746338], [-4.317593574523926, -3.0999951362609863, -3.08638596534729], [-4.559074878692627, -3.0999951362609863, -3.151090621948242], [-4.800556182861328, -3.0999951362609863, -3.2157952785491943], [-5.050556182861328, -3.0999951362609863, -3.2157952785491943], [-5.300556182861328, -3.0999951362609863, -3.2157952785491943], [-5.542037487030029, -3.0999951362609863, -3.2804999351501465], [-5.7835187911987305, -3.0999951362609863, -3.3452045917510986], [-6.000025272369385, -3.0999951362609863, -3.4702045917510986], [-6.216531753540039, -3.0999951362609863, -3.5952045917510986], [-6.45801305770874, -3.0999951362609863, -3.659909248352051], [-6.393308162689209, -3.0999951362609863, -3.901390790939331], [-6.328603267669678, -3.0999951362609863, -4.142872333526611], [-6.2638983726501465, -3.0999951362609863, -4.3843536376953125], [-6.199193477630615, -3.0999951362609863, -4.625834941864014], [-6.134488582611084, -3.0999951362609863, -4.867316246032715], [-6.069783687591553, -3.0999951362609863, -5.108797550201416], [-6.0050787925720215, -3.0999951362609863, -5.350278854370117], [-5.8800787925720215, -3.0999951362609863, -5.5667853355407715], [-5.7550787925720215, -3.0999951362609863, -5.783291816711426], [-5.6300787925720215, -3.0999951362609863, -5.99979829788208], [-5.5050787925720215, -3.0999951362609863, -6.216304779052734], [-5.3800787925720215, -3.0999951362609863, -6.432811260223389], [-5.2550787925720215, -3.0999951362609863, -6.649317741394043], [-5.1300787925720215, -3.0999951362609863, -6.865824222564697], [-5.0050787925720215, -3.0999951362609863, -7.082330703735352], [-4.8800787925720215, -3.0999951362609863, -7.298837184906006]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 119, "episode_id": "120", "scene_id": "qoiz87JEwZ2", "instruction": "Exit the kitchen area via the doorway to your slight left. Walk across the dining table area. Turn right and walk past the blue chair/sofa by the Christmas tree. Wait there. ", "start_position": [0.11791100353002548, -3.0999951362609863, -3.810529947280884], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-4.719970226287842, -3.0999951362609863, -7.578189849853516], "goal_radius": 3.0, "reference_path": "[[0.11791100353002548, -3.0999951362609863, -3.810529947280884], [-1.4112299680709839, -3.0999951362609863, -2.7106099128723145], [-2.7895898818969727, -3.0999951362609863, -2.7855100631713867], [-4.238659858703613, -3.0999951362609863, -3.0345098972320557], [-6.7457499504089355, -3.0999951362609863, -3.790329933166504], [-5.781499862670898, -3.0999951362609863, -5.76738977432251], [-4.719970226287842, -3.0999951362609863, -7.578189849853516]]", "geodesic_distance": 10.611000061035156, "gt_locations": "[[0.11791100353002548, -3.0999951362609863, -3.810529947280884], [-0.09859534353017807, -3.0999951362609863, -3.685529947280884], [-0.315101683139801, -3.0999951362609863, -3.560529947280884], [-0.5316080451011658, -3.0999951362609863, -3.435529947280884], [-0.7481144070625305, -3.0999951362609863, -3.310529947280884], [-0.9248911142349243, -3.0999951362609863, -3.1337532997131348], [-1.101667881011963, -3.0999951362609863, -2.9569766521453857], [-1.3431493043899536, -3.0999951362609863, -2.8922719955444336], [-1.5931493043899536, -3.0999951362609863, -2.8922719955444336], [-1.8431493043899536, -3.0999951362609863, -2.8922719955444336], [-2.093149185180664, -3.0999951362609863, -2.8922719955444336], [-2.343149185180664, -3.0999951362609863, -2.8922719955444336], [-2.593149185180664, -3.0999951362609863, -2.8922719955444336], [-2.843149185180664, -3.0999951362609863, -2.8922719955444336], [-3.093149185180664, -3.0999951362609863, -2.8922719955444336], [-3.343149185180664, -3.0999951362609863, -2.8922719955444336], [-3.593149185180664, -3.0999951362609863, -2.8922719955444336], [-3.8346307277679443, -3.0999951362609863, -2.9569766521453857], [-4.076112270355225, -3.0999951362609863, -3.021681308746338], [-4.317593574523926, -3.0999951362609863, -3.08638596534729], [-4.559074878692627, -3.0999951362609863, -3.151090621948242], [-4.800556182861328, -3.0999951362609863, -3.2157952785491943], [-5.050556182861328, -3.0999951362609863, -3.2157952785491943], [-5.300556182861328, -3.0999951362609863, -3.2157952785491943], [-5.542037487030029, -3.0999951362609863, -3.2804999351501465], [-5.7835187911987305, -3.0999951362609863, -3.3452045917510986], [-6.000025272369385, -3.0999951362609863, -3.4702045917510986], [-6.216531753540039, -3.0999951362609863, -3.5952045917510986], [-6.45801305770874, -3.0999951362609863, -3.659909248352051], [-6.393308162689209, -3.0999951362609863, -3.901390790939331], [-6.328603267669678, -3.0999951362609863, -4.142872333526611], [-6.2638983726501465, -3.0999951362609863, -4.3843536376953125], [-6.199193477630615, -3.0999951362609863, -4.625834941864014], [-6.134488582611084, -3.0999951362609863, -4.867316246032715], [-6.069783687591553, -3.0999951362609863, -5.108797550201416], [-6.0050787925720215, -3.0999951362609863, -5.350278854370117], [-5.8800787925720215, -3.0999951362609863, -5.5667853355407715], [-5.7550787925720215, -3.0999951362609863, -5.783291816711426], [-5.6300787925720215, -3.0999951362609863, -5.99979829788208], [-5.5050787925720215, -3.0999951362609863, -6.216304779052734], [-5.3800787925720215, -3.0999951362609863, -6.432811260223389], [-5.2550787925720215, -3.0999951362609863, -6.649317741394043], [-5.1300787925720215, -3.0999951362609863, -6.865824222564697], [-5.0050787925720215, -3.0999951362609863, -7.082330703735352], [-4.8800787925720215, -3.0999951362609863, -7.298837184906006]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 120, "episode_id": "121", "scene_id": "qoiz87JEwZ2", "instruction": "Walk out of the kitchen into the dining room. Walk towards the doorway to the sitting room. Veer right to walk out of the sitting room to the foyer. Stop next to the blue chair. ", "start_position": [0.11791100353002548, -3.0999951362609863, -3.810529947280884], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-4.719970226287842, -3.0999951362609863, -7.578189849853516], "goal_radius": 3.0, "reference_path": "[[0.11791100353002548, -3.0999951362609863, -3.810529947280884], [-1.4112299680709839, -3.0999951362609863, -2.7106099128723145], [-2.7895898818969727, -3.0999951362609863, -2.7855100631713867], [-4.238659858703613, -3.0999951362609863, -3.0345098972320557], [-6.7457499504089355, -3.0999951362609863, -3.790329933166504], [-5.781499862670898, -3.0999951362609863, -5.76738977432251], [-4.719970226287842, -3.0999951362609863, -7.578189849853516]]", "geodesic_distance": 10.611000061035156, "gt_locations": "[[0.11791100353002548, -3.0999951362609863, -3.810529947280884], [-0.09859534353017807, -3.0999951362609863, -3.685529947280884], [-0.315101683139801, -3.0999951362609863, -3.560529947280884], [-0.5316080451011658, -3.0999951362609863, -3.435529947280884], [-0.7481144070625305, -3.0999951362609863, -3.310529947280884], [-0.9248911142349243, -3.0999951362609863, -3.1337532997131348], [-1.101667881011963, -3.0999951362609863, -2.9569766521453857], [-1.3431493043899536, -3.0999951362609863, -2.8922719955444336], [-1.5931493043899536, -3.0999951362609863, -2.8922719955444336], [-1.8431493043899536, -3.0999951362609863, -2.8922719955444336], [-2.093149185180664, -3.0999951362609863, -2.8922719955444336], [-2.343149185180664, -3.0999951362609863, -2.8922719955444336], [-2.593149185180664, -3.0999951362609863, -2.8922719955444336], [-2.843149185180664, -3.0999951362609863, -2.8922719955444336], [-3.093149185180664, -3.0999951362609863, -2.8922719955444336], [-3.343149185180664, -3.0999951362609863, -2.8922719955444336], [-3.593149185180664, -3.0999951362609863, -2.8922719955444336], [-3.8346307277679443, -3.0999951362609863, -2.9569766521453857], [-4.076112270355225, -3.0999951362609863, -3.021681308746338], [-4.317593574523926, -3.0999951362609863, -3.08638596534729], [-4.559074878692627, -3.0999951362609863, -3.151090621948242], [-4.800556182861328, -3.0999951362609863, -3.2157952785491943], [-5.050556182861328, -3.0999951362609863, -3.2157952785491943], [-5.300556182861328, -3.0999951362609863, -3.2157952785491943], [-5.542037487030029, -3.0999951362609863, -3.2804999351501465], [-5.7835187911987305, -3.0999951362609863, -3.3452045917510986], [-6.000025272369385, -3.0999951362609863, -3.4702045917510986], [-6.216531753540039, -3.0999951362609863, -3.5952045917510986], [-6.45801305770874, -3.0999951362609863, -3.659909248352051], [-6.393308162689209, -3.0999951362609863, -3.901390790939331], [-6.328603267669678, -3.0999951362609863, -4.142872333526611], [-6.2638983726501465, -3.0999951362609863, -4.3843536376953125], [-6.199193477630615, -3.0999951362609863, -4.625834941864014], [-6.134488582611084, -3.0999951362609863, -4.867316246032715], [-6.069783687591553, -3.0999951362609863, -5.108797550201416], [-6.0050787925720215, -3.0999951362609863, -5.350278854370117], [-5.8800787925720215, -3.0999951362609863, -5.5667853355407715], [-5.7550787925720215, -3.0999951362609863, -5.783291816711426], [-5.6300787925720215, -3.0999951362609863, -5.99979829788208], [-5.5050787925720215, -3.0999951362609863, -6.216304779052734], [-5.3800787925720215, -3.0999951362609863, -6.432811260223389], [-5.2550787925720215, -3.0999951362609863, -6.649317741394043], [-5.1300787925720215, -3.0999951362609863, -6.865824222564697], [-5.0050787925720215, -3.0999951362609863, -7.082330703735352], [-4.8800787925720215, -3.0999951362609863, -7.298837184906006]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 121, "episode_id": "122", "scene_id": "ac26ZMwG7aT", "instruction": "Walk along the patio towards the couch. Stop next to the table that is in front of the couch. ", "start_position": [-2.0243000984191895, 0.13922199606895447, 13.182700157165527], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [5.241970062255859, -0.06077800691127777, 9.075630187988281], "goal_radius": 3.0, "reference_path": "[[-2.0243000984191895, 0.13922199606895447, 13.182700157165527], [-0.19381600618362427, 0.13922199606895447, 12.171899795532227], [2.147320032119751, 0.13922199606895447, 10.63129997253418], [3.3661000728607178, 0.13922199606895447, 9.708809852600098], [5.241970062255859, -0.06077800691127777, 9.075630187988281]]", "geodesic_distance": 8.34968376159668, "gt_locations": "[[-2.0243000984191895, 0.13922199606895447, 13.182700157165527], [-1.8077937364578247, 0.13922199606895447, 13.057700157165527], [-1.59128737449646, 0.13922199606895447, 12.932700157165527], [-1.3747810125350952, 0.13922199606895447, 12.807700157165527], [-1.1582746505737305, 0.13922199606895447, 12.682700157165527], [-0.916793167591095, 0.13922199606895447, 12.617995262145996], [-0.7002868056297302, 0.13922199606895447, 12.492995262145996], [-0.4837804436683655, 0.13922199606895447, 12.367995262145996], [-0.26727408170700073, 0.13922199606895447, 12.242995262145996], [-0.050767719745635986, 0.13922199606895447, 12.117995262145996], [0.16573864221572876, 0.13922199606895447, 11.992995262145996], [0.34251534938812256, 0.13922199606895447, 11.816218376159668], [0.5590217113494873, 0.13922199606895447, 11.691218376159668], [0.775528073310852, 0.13922199606895447, 11.566218376159668], [0.9920344352722168, 0.13922199606895447, 11.441218376159668], [1.2085407972335815, 0.13922199606895447, 11.316218376159668], [1.4250471591949463, 0.13922199606895447, 11.191218376159668], [1.641553521156311, 0.13922199606895447, 11.066218376159668], [1.81833016872406, 0.13922199606895447, 10.88944149017334], [1.995106816291809, 0.13922199606895447, 10.712664604187012], [2.1718835830688477, 0.13922199606895447, 10.535887718200684], [2.388389825820923, 0.13922199606895447, 10.410887718200684], [2.604896068572998, 0.13922199606895447, 10.285887718200684], [2.8214023113250732, 0.13922199606895447, 10.160887718200684], [2.9981789588928223, 0.13922199606895447, 9.984110832214355], [3.2146852016448975, 0.13922199606895447, 9.859110832214355], [3.4311914443969727, 0.13922199606895447, 9.734110832214355], [3.672672986984253, 0.13922199606895447, 9.669405937194824], [3.914154529571533, 0.11938269436359406, 9.604701042175293], [4.155635833740234, -0.018653959035873413, 9.539996147155762], [4.3971171379089355, -0.06077800691127777, 9.47529125213623], [4.61362361907959, -0.06077800691127777, 9.35029125213623], [4.830130100250244, -0.06077800691127777, 9.22529125213623]]", "gt_actions": "[1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 122, "episode_id": "123", "scene_id": "ac26ZMwG7aT", "instruction": "Walk straight down porch. Stop at table. ", "start_position": [-2.0243000984191895, 0.13922199606895447, 13.182700157165527], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [5.241970062255859, -0.06077800691127777, 9.075630187988281], "goal_radius": 3.0, "reference_path": "[[-2.0243000984191895, 0.13922199606895447, 13.182700157165527], [-0.19381600618362427, 0.13922199606895447, 12.171899795532227], [2.147320032119751, 0.13922199606895447, 10.63129997253418], [3.3661000728607178, 0.13922199606895447, 9.708809852600098], [5.241970062255859, -0.06077800691127777, 9.075630187988281]]", "geodesic_distance": 8.34968376159668, "gt_locations": "[[-2.0243000984191895, 0.13922199606895447, 13.182700157165527], [-1.8077937364578247, 0.13922199606895447, 13.057700157165527], [-1.59128737449646, 0.13922199606895447, 12.932700157165527], [-1.3747810125350952, 0.13922199606895447, 12.807700157165527], [-1.1582746505737305, 0.13922199606895447, 12.682700157165527], [-0.916793167591095, 0.13922199606895447, 12.617995262145996], [-0.7002868056297302, 0.13922199606895447, 12.492995262145996], [-0.4837804436683655, 0.13922199606895447, 12.367995262145996], [-0.26727408170700073, 0.13922199606895447, 12.242995262145996], [-0.050767719745635986, 0.13922199606895447, 12.117995262145996], [0.16573864221572876, 0.13922199606895447, 11.992995262145996], [0.34251534938812256, 0.13922199606895447, 11.816218376159668], [0.5590217113494873, 0.13922199606895447, 11.691218376159668], [0.775528073310852, 0.13922199606895447, 11.566218376159668], [0.9920344352722168, 0.13922199606895447, 11.441218376159668], [1.2085407972335815, 0.13922199606895447, 11.316218376159668], [1.4250471591949463, 0.13922199606895447, 11.191218376159668], [1.641553521156311, 0.13922199606895447, 11.066218376159668], [1.81833016872406, 0.13922199606895447, 10.88944149017334], [1.995106816291809, 0.13922199606895447, 10.712664604187012], [2.1718835830688477, 0.13922199606895447, 10.535887718200684], [2.388389825820923, 0.13922199606895447, 10.410887718200684], [2.604896068572998, 0.13922199606895447, 10.285887718200684], [2.8214023113250732, 0.13922199606895447, 10.160887718200684], [2.9981789588928223, 0.13922199606895447, 9.984110832214355], [3.2146852016448975, 0.13922199606895447, 9.859110832214355], [3.4311914443969727, 0.13922199606895447, 9.734110832214355], [3.672672986984253, 0.13922199606895447, 9.669405937194824], [3.914154529571533, 0.11938269436359406, 9.604701042175293], [4.155635833740234, -0.018653959035873413, 9.539996147155762], [4.3971171379089355, -0.06077800691127777, 9.47529125213623], [4.61362361907959, -0.06077800691127777, 9.35029125213623], [4.830130100250244, -0.06077800691127777, 9.22529125213623]]", "gt_actions": "[1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 123, "episode_id": "124", "scene_id": "ac26ZMwG7aT", "instruction": "go straight behind the rocking chairs,  stop by the round table outside. ", "start_position": [-2.0243000984191895, 0.13922199606895447, 13.182700157165527], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [5.241970062255859, -0.06077800691127777, 9.075630187988281], "goal_radius": 3.0, "reference_path": "[[-2.0243000984191895, 0.13922199606895447, 13.182700157165527], [-0.19381600618362427, 0.13922199606895447, 12.171899795532227], [2.147320032119751, 0.13922199606895447, 10.63129997253418], [3.3661000728607178, 0.13922199606895447, 9.708809852600098], [5.241970062255859, -0.06077800691127777, 9.075630187988281]]", "geodesic_distance": 8.34968376159668, "gt_locations": "[[-2.0243000984191895, 0.13922199606895447, 13.182700157165527], [-1.8077937364578247, 0.13922199606895447, 13.057700157165527], [-1.59128737449646, 0.13922199606895447, 12.932700157165527], [-1.3747810125350952, 0.13922199606895447, 12.807700157165527], [-1.1582746505737305, 0.13922199606895447, 12.682700157165527], [-0.916793167591095, 0.13922199606895447, 12.617995262145996], [-0.7002868056297302, 0.13922199606895447, 12.492995262145996], [-0.4837804436683655, 0.13922199606895447, 12.367995262145996], [-0.26727408170700073, 0.13922199606895447, 12.242995262145996], [-0.050767719745635986, 0.13922199606895447, 12.117995262145996], [0.16573864221572876, 0.13922199606895447, 11.992995262145996], [0.34251534938812256, 0.13922199606895447, 11.816218376159668], [0.5590217113494873, 0.13922199606895447, 11.691218376159668], [0.775528073310852, 0.13922199606895447, 11.566218376159668], [0.9920344352722168, 0.13922199606895447, 11.441218376159668], [1.2085407972335815, 0.13922199606895447, 11.316218376159668], [1.4250471591949463, 0.13922199606895447, 11.191218376159668], [1.641553521156311, 0.13922199606895447, 11.066218376159668], [1.81833016872406, 0.13922199606895447, 10.88944149017334], [1.995106816291809, 0.13922199606895447, 10.712664604187012], [2.1718835830688477, 0.13922199606895447, 10.535887718200684], [2.388389825820923, 0.13922199606895447, 10.410887718200684], [2.604896068572998, 0.13922199606895447, 10.285887718200684], [2.8214023113250732, 0.13922199606895447, 10.160887718200684], [2.9981789588928223, 0.13922199606895447, 9.984110832214355], [3.2146852016448975, 0.13922199606895447, 9.859110832214355], [3.4311914443969727, 0.13922199606895447, 9.734110832214355], [3.672672986984253, 0.13922199606895447, 9.669405937194824], [3.914154529571533, 0.11938269436359406, 9.604701042175293], [4.155635833740234, -0.018653959035873413, 9.539996147155762], [4.3971171379089355, -0.06077800691127777, 9.47529125213623], [4.61362361907959, -0.06077800691127777, 9.35029125213623], [4.830130100250244, -0.06077800691127777, 9.22529125213623]]", "gt_actions": "[1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 124, "episode_id": "125", "scene_id": "5q7pvUzZiYa", "instruction": "Go forward and take left and enter bedroom. ", "start_position": [8.770270347595215, 0.003425121307373047, -0.534716010093689], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [4.235939979553223, 0.3078854978084564, -2.9589500427246094], "goal_radius": 3.0, "reference_path": "[[8.770270347595215, 0.003425121307373047, -0.534716010093689], [8.955550193786621, 0.003425121307373047, -1.736549973487854], [8.970959663391113, 0.003425121307373047, -2.6516098976135254], [7.089000225067139, 0.003425121307373047, -2.675570011138916], [5.687129974365234, 0.003425121307373047, -2.859369993209839], [4.557769775390625, 0.05337393656373024, -2.8504600524902344], [4.235939979553223, 0.3078854978084564, -2.9589500427246094]]", "geodesic_distance": 6.084677219390869, "gt_locations": "[[8.770270347595215, 0.003425121307373047, -0.534716010093689], [8.834975242614746, 0.003425121307373047, -0.7761974334716797], [8.899680137634277, 0.003425121307373047, -1.0176788568496704], [8.899680137634277, 0.003425121307373047, -1.2676788568496704], [8.899680137634277, 0.003425121307373047, -1.5176788568496704], [8.899680137634277, 0.003425121307373047, -1.7676788568496704], [8.899680137634277, 0.003425121307373047, -2.017678737640381], [8.899680137634277, 0.003425121307373047, -2.267678737640381], [8.658198356628418, 0.003425121307373047, -2.332383394241333], [8.416716575622559, 0.003425121307373047, -2.397088050842285], [8.1752347946167, 0.003425121307373047, -2.4617927074432373], [7.933753490447998, 0.003425121307373047, -2.5264973640441895], [7.692272186279297, 0.003425121307373047, -2.5912020206451416], [7.450790882110596, 0.003425121307373047, -2.6559066772460938], [7.2093095779418945, 0.003425121307373047, -2.720611333847046], [6.967828273773193, 0.003425121307373047, -2.785315990447998], [6.717828273773193, 0.003425121307373047, -2.785315990447998], [6.467828273773193, 0.003425121307373047, -2.785315990447998], [6.217828273773193, 0.003425121307373047, -2.785315990447998], [5.967828273773193, 0.003425121307373047, -2.785315990447998], [5.717828273773193, 0.003425121307373047, -2.785315990447998], [5.467828273773193, 0.003425121307373047, -2.785315990447998], [5.217828273773193, 0.003425121307373047, -2.785315990447998], [4.967828273773193, 0.003425121307373047, -2.785315990447998], [4.726346969604492, 0.003425121307373047, -2.85002064704895], [4.484865665435791, 0.12133459001779556, -2.9147253036499023]]", "gt_actions": "[2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 125, "episode_id": "126", "scene_id": "5q7pvUzZiYa", "instruction": "Walk out of the bedroom and  take a left down the hallway. Walk into the bedroom ahead at the end of the hall. Stop once you are in the bedroom, just past the doorway. ", "start_position": [8.770270347595215, 0.003425121307373047, -0.534716010093689], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [4.235939979553223, 0.3078854978084564, -2.9589500427246094], "goal_radius": 3.0, "reference_path": "[[8.770270347595215, 0.003425121307373047, -0.534716010093689], [8.955550193786621, 0.003425121307373047, -1.736549973487854], [8.970959663391113, 0.003425121307373047, -2.6516098976135254], [7.089000225067139, 0.003425121307373047, -2.675570011138916], [5.687129974365234, 0.003425121307373047, -2.859369993209839], [4.557769775390625, 0.05337393656373024, -2.8504600524902344], [4.235939979553223, 0.3078854978084564, -2.9589500427246094]]", "geodesic_distance": 6.084677219390869, "gt_locations": "[[8.770270347595215, 0.003425121307373047, -0.534716010093689], [8.834975242614746, 0.003425121307373047, -0.7761974334716797], [8.899680137634277, 0.003425121307373047, -1.0176788568496704], [8.899680137634277, 0.003425121307373047, -1.2676788568496704], [8.899680137634277, 0.003425121307373047, -1.5176788568496704], [8.899680137634277, 0.003425121307373047, -1.7676788568496704], [8.899680137634277, 0.003425121307373047, -2.017678737640381], [8.899680137634277, 0.003425121307373047, -2.267678737640381], [8.658198356628418, 0.003425121307373047, -2.332383394241333], [8.416716575622559, 0.003425121307373047, -2.397088050842285], [8.1752347946167, 0.003425121307373047, -2.4617927074432373], [7.933753490447998, 0.003425121307373047, -2.5264973640441895], [7.692272186279297, 0.003425121307373047, -2.5912020206451416], [7.450790882110596, 0.003425121307373047, -2.6559066772460938], [7.2093095779418945, 0.003425121307373047, -2.720611333847046], [6.967828273773193, 0.003425121307373047, -2.785315990447998], [6.717828273773193, 0.003425121307373047, -2.785315990447998], [6.467828273773193, 0.003425121307373047, -2.785315990447998], [6.217828273773193, 0.003425121307373047, -2.785315990447998], [5.967828273773193, 0.003425121307373047, -2.785315990447998], [5.717828273773193, 0.003425121307373047, -2.785315990447998], [5.467828273773193, 0.003425121307373047, -2.785315990447998], [5.217828273773193, 0.003425121307373047, -2.785315990447998], [4.967828273773193, 0.003425121307373047, -2.785315990447998], [4.726346969604492, 0.003425121307373047, -2.85002064704895], [4.484865665435791, 0.12133459001779556, -2.9147253036499023]]", "gt_actions": "[2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 126, "episode_id": "127", "scene_id": "5q7pvUzZiYa", "instruction": "Take a left out of the room. Take a left and wait in the bedroom. ", "start_position": [8.770270347595215, 0.003425121307373047, -0.534716010093689], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [4.235939979553223, 0.3078854978084564, -2.9589500427246094], "goal_radius": 3.0, "reference_path": "[[8.770270347595215, 0.003425121307373047, -0.534716010093689], [8.955550193786621, 0.003425121307373047, -1.736549973487854], [8.970959663391113, 0.003425121307373047, -2.6516098976135254], [7.089000225067139, 0.003425121307373047, -2.675570011138916], [5.687129974365234, 0.003425121307373047, -2.859369993209839], [4.557769775390625, 0.05337393656373024, -2.8504600524902344], [4.235939979553223, 0.3078854978084564, -2.9589500427246094]]", "geodesic_distance": 6.084677219390869, "gt_locations": "[[8.770270347595215, 0.003425121307373047, -0.534716010093689], [8.834975242614746, 0.003425121307373047, -0.7761974334716797], [8.899680137634277, 0.003425121307373047, -1.0176788568496704], [8.899680137634277, 0.003425121307373047, -1.2676788568496704], [8.899680137634277, 0.003425121307373047, -1.5176788568496704], [8.899680137634277, 0.003425121307373047, -1.7676788568496704], [8.899680137634277, 0.003425121307373047, -2.017678737640381], [8.899680137634277, 0.003425121307373047, -2.267678737640381], [8.658198356628418, 0.003425121307373047, -2.332383394241333], [8.416716575622559, 0.003425121307373047, -2.397088050842285], [8.1752347946167, 0.003425121307373047, -2.4617927074432373], [7.933753490447998, 0.003425121307373047, -2.5264973640441895], [7.692272186279297, 0.003425121307373047, -2.5912020206451416], [7.450790882110596, 0.003425121307373047, -2.6559066772460938], [7.2093095779418945, 0.003425121307373047, -2.720611333847046], [6.967828273773193, 0.003425121307373047, -2.785315990447998], [6.717828273773193, 0.003425121307373047, -2.785315990447998], [6.467828273773193, 0.003425121307373047, -2.785315990447998], [6.217828273773193, 0.003425121307373047, -2.785315990447998], [5.967828273773193, 0.003425121307373047, -2.785315990447998], [5.717828273773193, 0.003425121307373047, -2.785315990447998], [5.467828273773193, 0.003425121307373047, -2.785315990447998], [5.217828273773193, 0.003425121307373047, -2.785315990447998], [4.967828273773193, 0.003425121307373047, -2.785315990447998], [4.726346969604492, 0.003425121307373047, -2.85002064704895], [4.484865665435791, 0.12133459001779556, -2.9147253036499023]]", "gt_actions": "[2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 127, "episode_id": "128", "scene_id": "JeFG25nYj2p", "instruction": "exit the living room area, turn right, veer left, head down the hallway, go through the double doors into the next room, turn left, turn left again at the kitchen, stop in front of the refrigerator. ", "start_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [6.964069843292236, 0.09358400106430054, -2.2940800189971924], "goal_radius": 3.0, "reference_path": "[[1.424720048904419, 0.09358400106430054, 1.7218899726867676], [3.1782400608062744, 0.09358400106430054, 1.311110019683838], [5.505129814147949, 0.09358400106430054, 0.048920899629592896], [6.561100006103516, 0.09358400106430054, -0.00381737994030118], [7.785459995269775, 0.09358400106430054, 0.1665789932012558], [8.10122013092041, 0.09358400106430054, -2.492069959640503], [6.964069843292236, 0.09358400106430054, -2.2940800189971924]]", "geodesic_distance": 9.348247528076172, "gt_locations": "[[1.424720048904419, 0.09358400106430054, 1.7218899726867676], [1.6662015914916992, 0.09358400106430054, 1.6571851968765259], [1.9076831340789795, 0.09358400106430054, 1.5924804210662842], [2.1491646766662598, 0.09358400106430054, 1.5277756452560425], [2.365670919418335, 0.09358400106430054, 1.4027756452560425], [2.6071524620056152, 0.09358400106430054, 1.3380708694458008], [2.8571524620056152, 0.09358400106430054, 1.3380708694458008], [3.0736589431762695, 0.09358400106430054, 1.2130708694458008], [3.290165424346924, 0.09358400106430054, 1.0880708694458008], [3.506671905517578, 0.09358400106430054, 0.9630708694458008], [3.7231783866882324, 0.09358400106430054, 0.8380708694458008], [3.9396848678588867, 0.09358400106430054, 0.7130708694458008], [4.156191349029541, 0.09358400106430054, 0.5880708694458008], [4.372697830200195, 0.09358400106430054, 0.4630708694458008], [4.6141791343688965, 0.09358400106430054, 0.3983660936355591], [4.830685615539551, 0.09358400106430054, 0.2733660638332367], [5.072166919708252, 0.09358400106430054, 0.2086612731218338], [5.313648223876953, 0.09358400106430054, 0.1439564824104309], [5.555129528045654, 0.09358400106430054, 0.07925169169902802], [5.805129528045654, 0.09358400106430054, 0.07925167679786682], [6.055129528045654, 0.09358400106430054, 0.07925166189670563], [6.2966108322143555, 0.09358400106430054, 0.014546900987625122], [6.538092136383057, 0.09358400106430054, 0.07925170660018921], [6.788092136383057, 0.09358400106430054, 0.07925169169902802], [7.038092136383057, 0.09358400106430054, 0.07925167679786682], [7.288092136383057, 0.09358400106430054, 0.07925166189670563], [7.529573440551758, 0.09358400106430054, 0.14395640790462494], [7.654573440551758, 0.09358400106430054, -0.07254995405673981], [7.779573440551758, 0.09358400106430054, -0.28905630111694336], [7.904573440551758, 0.09358400106430054, -0.5055626630783081], [7.969278335571289, 0.09358400106430054, -0.7470441460609436], [8.03398323059082, 0.09358400106430054, -0.9885256290435791], [8.03398323059082, 0.09358400106430054, -1.238525629043579], [8.03398323059082, 0.09358400106430054, -1.488525629043579], [8.03398323059082, 0.09358400106430054, -1.738525629043579], [8.03398323059082, 0.09358400106430054, -1.988525629043579], [8.03398323059082, 0.09358400106430054, -2.238525629043579], [7.78398323059082, 0.09358400106430054, -2.238525629043579], [7.53398323059082, 0.09358400106430054, -2.238525629043579], [7.28398323059082, 0.09358400106430054, -2.238525629043579]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 0]"}
{"id": 128, "episode_id": "129", "scene_id": "JeFG25nYj2p", "instruction": "Turn right, walk down hallway passed paintings,walk straight through double doors, turn left, go straight, turn left at the kitchen and stop by the refrigerator. ", "start_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [6.964069843292236, 0.09358400106430054, -2.2940800189971924], "goal_radius": 3.0, "reference_path": "[[1.424720048904419, 0.09358400106430054, 1.7218899726867676], [3.1782400608062744, 0.09358400106430054, 1.311110019683838], [5.505129814147949, 0.09358400106430054, 0.048920899629592896], [6.561100006103516, 0.09358400106430054, -0.00381737994030118], [7.785459995269775, 0.09358400106430054, 0.1665789932012558], [8.10122013092041, 0.09358400106430054, -2.492069959640503], [6.964069843292236, 0.09358400106430054, -2.2940800189971924]]", "geodesic_distance": 9.348247528076172, "gt_locations": "[[1.424720048904419, 0.09358400106430054, 1.7218899726867676], [1.6662015914916992, 0.09358400106430054, 1.6571851968765259], [1.9076831340789795, 0.09358400106430054, 1.5924804210662842], [2.1491646766662598, 0.09358400106430054, 1.5277756452560425], [2.365670919418335, 0.09358400106430054, 1.4027756452560425], [2.6071524620056152, 0.09358400106430054, 1.3380708694458008], [2.8571524620056152, 0.09358400106430054, 1.3380708694458008], [3.0736589431762695, 0.09358400106430054, 1.2130708694458008], [3.290165424346924, 0.09358400106430054, 1.0880708694458008], [3.506671905517578, 0.09358400106430054, 0.9630708694458008], [3.7231783866882324, 0.09358400106430054, 0.8380708694458008], [3.9396848678588867, 0.09358400106430054, 0.7130708694458008], [4.156191349029541, 0.09358400106430054, 0.5880708694458008], [4.372697830200195, 0.09358400106430054, 0.4630708694458008], [4.6141791343688965, 0.09358400106430054, 0.3983660936355591], [4.830685615539551, 0.09358400106430054, 0.2733660638332367], [5.072166919708252, 0.09358400106430054, 0.2086612731218338], [5.313648223876953, 0.09358400106430054, 0.1439564824104309], [5.555129528045654, 0.09358400106430054, 0.07925169169902802], [5.805129528045654, 0.09358400106430054, 0.07925167679786682], [6.055129528045654, 0.09358400106430054, 0.07925166189670563], [6.2966108322143555, 0.09358400106430054, 0.014546900987625122], [6.538092136383057, 0.09358400106430054, 0.07925170660018921], [6.788092136383057, 0.09358400106430054, 0.07925169169902802], [7.038092136383057, 0.09358400106430054, 0.07925167679786682], [7.288092136383057, 0.09358400106430054, 0.07925166189670563], [7.529573440551758, 0.09358400106430054, 0.14395640790462494], [7.654573440551758, 0.09358400106430054, -0.07254995405673981], [7.779573440551758, 0.09358400106430054, -0.28905630111694336], [7.904573440551758, 0.09358400106430054, -0.5055626630783081], [7.969278335571289, 0.09358400106430054, -0.7470441460609436], [8.03398323059082, 0.09358400106430054, -0.9885256290435791], [8.03398323059082, 0.09358400106430054, -1.238525629043579], [8.03398323059082, 0.09358400106430054, -1.488525629043579], [8.03398323059082, 0.09358400106430054, -1.738525629043579], [8.03398323059082, 0.09358400106430054, -1.988525629043579], [8.03398323059082, 0.09358400106430054, -2.238525629043579], [7.78398323059082, 0.09358400106430054, -2.238525629043579], [7.53398323059082, 0.09358400106430054, -2.238525629043579], [7.28398323059082, 0.09358400106430054, -2.238525629043579]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 0]"}
{"id": 129, "episode_id": "130", "scene_id": "JeFG25nYj2p", "instruction": "Turn left and walk down the hall through the double doors. Turn left and walk towards the dining table. Turn left again and wait by the refrigerator. ", "start_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [6.964069843292236, 0.09358400106430054, -2.2940800189971924], "goal_radius": 3.0, "reference_path": "[[1.424720048904419, 0.09358400106430054, 1.7218899726867676], [3.1782400608062744, 0.09358400106430054, 1.311110019683838], [5.505129814147949, 0.09358400106430054, 0.048920899629592896], [6.561100006103516, 0.09358400106430054, -0.00381737994030118], [7.785459995269775, 0.09358400106430054, 0.1665789932012558], [8.10122013092041, 0.09358400106430054, -2.492069959640503], [6.964069843292236, 0.09358400106430054, -2.2940800189971924]]", "geodesic_distance": 9.348247528076172, "gt_locations": "[[1.424720048904419, 0.09358400106430054, 1.7218899726867676], [1.6662015914916992, 0.09358400106430054, 1.6571851968765259], [1.9076831340789795, 0.09358400106430054, 1.5924804210662842], [2.1491646766662598, 0.09358400106430054, 1.5277756452560425], [2.365670919418335, 0.09358400106430054, 1.4027756452560425], [2.6071524620056152, 0.09358400106430054, 1.3380708694458008], [2.8571524620056152, 0.09358400106430054, 1.3380708694458008], [3.0736589431762695, 0.09358400106430054, 1.2130708694458008], [3.290165424346924, 0.09358400106430054, 1.0880708694458008], [3.506671905517578, 0.09358400106430054, 0.9630708694458008], [3.7231783866882324, 0.09358400106430054, 0.8380708694458008], [3.9396848678588867, 0.09358400106430054, 0.7130708694458008], [4.156191349029541, 0.09358400106430054, 0.5880708694458008], [4.372697830200195, 0.09358400106430054, 0.4630708694458008], [4.6141791343688965, 0.09358400106430054, 0.3983660936355591], [4.830685615539551, 0.09358400106430054, 0.2733660638332367], [5.072166919708252, 0.09358400106430054, 0.2086612731218338], [5.313648223876953, 0.09358400106430054, 0.1439564824104309], [5.555129528045654, 0.09358400106430054, 0.07925169169902802], [5.805129528045654, 0.09358400106430054, 0.07925167679786682], [6.055129528045654, 0.09358400106430054, 0.07925166189670563], [6.2966108322143555, 0.09358400106430054, 0.014546900987625122], [6.538092136383057, 0.09358400106430054, 0.07925170660018921], [6.788092136383057, 0.09358400106430054, 0.07925169169902802], [7.038092136383057, 0.09358400106430054, 0.07925167679786682], [7.288092136383057, 0.09358400106430054, 0.07925166189670563], [7.529573440551758, 0.09358400106430054, 0.14395640790462494], [7.654573440551758, 0.09358400106430054, -0.07254995405673981], [7.779573440551758, 0.09358400106430054, -0.28905630111694336], [7.904573440551758, 0.09358400106430054, -0.5055626630783081], [7.969278335571289, 0.09358400106430054, -0.7470441460609436], [8.03398323059082, 0.09358400106430054, -0.9885256290435791], [8.03398323059082, 0.09358400106430054, -1.238525629043579], [8.03398323059082, 0.09358400106430054, -1.488525629043579], [8.03398323059082, 0.09358400106430054, -1.738525629043579], [8.03398323059082, 0.09358400106430054, -1.988525629043579], [8.03398323059082, 0.09358400106430054, -2.238525629043579], [7.78398323059082, 0.09358400106430054, -2.238525629043579], [7.53398323059082, 0.09358400106430054, -2.238525629043579], [7.28398323059082, 0.09358400106430054, -2.238525629043579]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 0]"}
{"id": 130, "episode_id": "131", "scene_id": "JeFG25nYj2p", "instruction": "Leave the closet and take a right into the hallway. In the hall walk straight and stick left passing a cabinet on your left. Once past the cabinet go into the first room on your left. ", "start_position": [4.523910045623779, 0.09358400106430054, 2.9160799980163574], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.4872150123119354, 0.09358400106430054, -4.431769847869873], "goal_radius": 3.0, "reference_path": "[[4.523910045623779, 0.09358400106430054, 2.9160799980163574], [3.360340118408203, 0.09358400106430054, 3.07817006111145], [3.170639991760254, 0.09358400106430054, 2.2636899948120117], [3.1782400608062744, 0.09358400106430054, 1.311110019683838], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [-0.4872150123119354, 0.09358400106430054, -4.431769847869873]]", "geodesic_distance": 9.349332809448242, "gt_locations": "[[4.523910045623779, 0.09358400106430054, 2.9160799980163574], [4.273910045623779, 0.09358400106430054, 2.9160799980163574], [4.032428741455078, 0.09358400106430054, 2.9807846546173096], [3.790947198867798, 0.09358400106430054, 3.0454893112182617], [3.614170551300049, 0.09358400106430054, 2.8687126636505127], [3.4373939037323, 0.09358400106430054, 2.6919360160827637], [3.260617256164551, 0.09358400106430054, 2.5151593685150146], [3.260617256164551, 0.09358400106430054, 2.2651593685150146], [3.260617256164551, 0.09358400106430054, 2.0151593685150146], [3.260617256164551, 0.09358400106430054, 1.7651593685150146], [3.135617256164551, 0.09358400106430054, 1.54865300655365], [3.010617256164551, 0.09358400106430054, 1.3321466445922852], [2.885617256164551, 0.09358400106430054, 1.1156402826309204], [2.760617256164551, 0.09358400106430054, 0.8991339206695557], [2.635617256164551, 0.09358400106430054, 0.6826275587081909], [2.510617256164551, 0.09358400106430054, 0.46612119674682617], [2.385617256164551, 0.09358400106430054, 0.24961484968662262], [2.260617256164551, 0.09358400106430054, 0.03310850262641907], [2.135617256164551, 0.09358400106430054, -0.18339784443378448], [2.010617256164551, 0.09358400106430054, -0.39990419149398804], [1.857484221458435, 0.09358400106430054, -0.6083725690841675], [1.732484221458435, 0.09358400106430054, -0.8248789310455322], [1.607484221458435, 0.09358400106430054, -1.041385293006897], [1.5427794456481934, 0.09358400106430054, -1.2828667163848877], [1.4780746698379517, 0.09358400106430054, -1.5243481397628784], [1.41336989402771, 0.09358400106430054, -1.7658295631408691], [1.3486651182174683, 0.09358400106430054, -2.0073111057281494], [1.2236651182174683, 0.09358400106430054, -2.2238173484802246], [1.0691068172454834, 0.09358400106430054, -2.4450302124023438], [0.8923301696777344, 0.09358400106430054, -2.6218068599700928], [0.6892540454864502, 0.09358400106430054, -2.7803823947906494], [0.5124773383140564, 0.09358400106430054, -2.9571590423583984], [0.3357006311416626, 0.09358400106430054, -3.1339356899261475], [0.15892393887043, 0.09358400106430054, -3.3107123374938965], [0.015662752091884613, 0.09358400106430054, -3.5297491550445557], [-0.10933724790811539, 0.09358400106430054, -3.746255397796631], [-0.2343372255563736, 0.09358400106430054, -3.962761878967285], [-0.3593372106552124, 0.09358400106430054, -4.1792683601379395]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 3, 3, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 1, 2, 1, 1, 1, 0]"}
{"id": 131, "episode_id": "132", "scene_id": "JeFG25nYj2p", "instruction": "Turn around.  Walk out of the room, turn to the right and walk through the doorway.  Turn to the left and go through a small hallway, into a bedroom.  Stop right there. ", "start_position": [4.523910045623779, 0.09358400106430054, 2.9160799980163574], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.4872150123119354, 0.09358400106430054, -4.431769847869873], "goal_radius": 3.0, "reference_path": "[[4.523910045623779, 0.09358400106430054, 2.9160799980163574], [3.360340118408203, 0.09358400106430054, 3.07817006111145], [3.170639991760254, 0.09358400106430054, 2.2636899948120117], [3.1782400608062744, 0.09358400106430054, 1.311110019683838], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [-0.4872150123119354, 0.09358400106430054, -4.431769847869873]]", "geodesic_distance": 9.349332809448242, "gt_locations": "[[4.523910045623779, 0.09358400106430054, 2.9160799980163574], [4.273910045623779, 0.09358400106430054, 2.9160799980163574], [4.032428741455078, 0.09358400106430054, 2.9807846546173096], [3.790947198867798, 0.09358400106430054, 3.0454893112182617], [3.614170551300049, 0.09358400106430054, 2.8687126636505127], [3.4373939037323, 0.09358400106430054, 2.6919360160827637], [3.260617256164551, 0.09358400106430054, 2.5151593685150146], [3.260617256164551, 0.09358400106430054, 2.2651593685150146], [3.260617256164551, 0.09358400106430054, 2.0151593685150146], [3.260617256164551, 0.09358400106430054, 1.7651593685150146], [3.135617256164551, 0.09358400106430054, 1.54865300655365], [3.010617256164551, 0.09358400106430054, 1.3321466445922852], [2.885617256164551, 0.09358400106430054, 1.1156402826309204], [2.760617256164551, 0.09358400106430054, 0.8991339206695557], [2.635617256164551, 0.09358400106430054, 0.6826275587081909], [2.510617256164551, 0.09358400106430054, 0.46612119674682617], [2.385617256164551, 0.09358400106430054, 0.24961484968662262], [2.260617256164551, 0.09358400106430054, 0.03310850262641907], [2.135617256164551, 0.09358400106430054, -0.18339784443378448], [2.010617256164551, 0.09358400106430054, -0.39990419149398804], [1.857484221458435, 0.09358400106430054, -0.6083725690841675], [1.732484221458435, 0.09358400106430054, -0.8248789310455322], [1.607484221458435, 0.09358400106430054, -1.041385293006897], [1.5427794456481934, 0.09358400106430054, -1.2828667163848877], [1.4780746698379517, 0.09358400106430054, -1.5243481397628784], [1.41336989402771, 0.09358400106430054, -1.7658295631408691], [1.3486651182174683, 0.09358400106430054, -2.0073111057281494], [1.2236651182174683, 0.09358400106430054, -2.2238173484802246], [1.0691068172454834, 0.09358400106430054, -2.4450302124023438], [0.8923301696777344, 0.09358400106430054, -2.6218068599700928], [0.6892540454864502, 0.09358400106430054, -2.7803823947906494], [0.5124773383140564, 0.09358400106430054, -2.9571590423583984], [0.3357006311416626, 0.09358400106430054, -3.1339356899261475], [0.15892393887043, 0.09358400106430054, -3.3107123374938965], [0.015662752091884613, 0.09358400106430054, -3.5297491550445557], [-0.10933724790811539, 0.09358400106430054, -3.746255397796631], [-0.2343372255563736, 0.09358400106430054, -3.962761878967285], [-0.3593372106552124, 0.09358400106430054, -4.1792683601379395]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 3, 3, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 1, 2, 1, 1, 1, 0]"}
{"id": 132, "episode_id": "133", "scene_id": "JeFG25nYj2p", "instruction": "Walk out of the closet and turn right. Walk into the hall and turn left Turn right and walk past the end table. Walk through the hall turn left, then turn right into the bedroom. Stop in the doorway. ", "start_position": [4.523910045623779, 0.09358400106430054, 2.9160799980163574], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.4872150123119354, 0.09358400106430054, -4.431769847869873], "goal_radius": 3.0, "reference_path": "[[4.523910045623779, 0.09358400106430054, 2.9160799980163574], [3.360340118408203, 0.09358400106430054, 3.07817006111145], [3.170639991760254, 0.09358400106430054, 2.2636899948120117], [3.1782400608062744, 0.09358400106430054, 1.311110019683838], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [-0.4872150123119354, 0.09358400106430054, -4.431769847869873]]", "geodesic_distance": 9.349332809448242, "gt_locations": "[[4.523910045623779, 0.09358400106430054, 2.9160799980163574], [4.273910045623779, 0.09358400106430054, 2.9160799980163574], [4.032428741455078, 0.09358400106430054, 2.9807846546173096], [3.790947198867798, 0.09358400106430054, 3.0454893112182617], [3.614170551300049, 0.09358400106430054, 2.8687126636505127], [3.4373939037323, 0.09358400106430054, 2.6919360160827637], [3.260617256164551, 0.09358400106430054, 2.5151593685150146], [3.260617256164551, 0.09358400106430054, 2.2651593685150146], [3.260617256164551, 0.09358400106430054, 2.0151593685150146], [3.260617256164551, 0.09358400106430054, 1.7651593685150146], [3.135617256164551, 0.09358400106430054, 1.54865300655365], [3.010617256164551, 0.09358400106430054, 1.3321466445922852], [2.885617256164551, 0.09358400106430054, 1.1156402826309204], [2.760617256164551, 0.09358400106430054, 0.8991339206695557], [2.635617256164551, 0.09358400106430054, 0.6826275587081909], [2.510617256164551, 0.09358400106430054, 0.46612119674682617], [2.385617256164551, 0.09358400106430054, 0.24961484968662262], [2.260617256164551, 0.09358400106430054, 0.03310850262641907], [2.135617256164551, 0.09358400106430054, -0.18339784443378448], [2.010617256164551, 0.09358400106430054, -0.39990419149398804], [1.857484221458435, 0.09358400106430054, -0.6083725690841675], [1.732484221458435, 0.09358400106430054, -0.8248789310455322], [1.607484221458435, 0.09358400106430054, -1.041385293006897], [1.5427794456481934, 0.09358400106430054, -1.2828667163848877], [1.4780746698379517, 0.09358400106430054, -1.5243481397628784], [1.41336989402771, 0.09358400106430054, -1.7658295631408691], [1.3486651182174683, 0.09358400106430054, -2.0073111057281494], [1.2236651182174683, 0.09358400106430054, -2.2238173484802246], [1.0691068172454834, 0.09358400106430054, -2.4450302124023438], [0.8923301696777344, 0.09358400106430054, -2.6218068599700928], [0.6892540454864502, 0.09358400106430054, -2.7803823947906494], [0.5124773383140564, 0.09358400106430054, -2.9571590423583984], [0.3357006311416626, 0.09358400106430054, -3.1339356899261475], [0.15892393887043, 0.09358400106430054, -3.3107123374938965], [0.015662752091884613, 0.09358400106430054, -3.5297491550445557], [-0.10933724790811539, 0.09358400106430054, -3.746255397796631], [-0.2343372255563736, 0.09358400106430054, -3.962761878967285], [-0.3593372106552124, 0.09358400106430054, -4.1792683601379395]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 3, 3, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 1, 2, 1, 1, 1, 0]"}
{"id": 133, "episode_id": "134", "scene_id": "aayBHfsNo7d", "instruction": "Leave the living room area and walk straight back past the stairs and to the back door. Stand in the doorway and look outside. ", "start_position": [11.10789966583252, 0.028255999088287354, 4.051720142364502], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.4752899408340454, 0.028255999088287354, 3.9181699752807617], "goal_radius": 3.0, "reference_path": "[[11.10789966583252, 0.028255999088287354, 4.051720142364502], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [3.1888599395751953, 0.028255999088287354, 4.111730098724365], [0.7409150004386902, 0.028255999088287354, 3.886430025100708], [-1.4752899408340454, 0.028255999088287354, 3.9181699752807617]]", "geodesic_distance": 12.583898544311523, "gt_locations": "[[11.10789966583252, 0.028255999088287354, 4.051720142364502], [10.85789966583252, 0.028255999088287354, 4.051720142364502], [10.60789966583252, 0.028255999088287354, 4.051720142364502], [10.35789966583252, 0.028255999088287354, 4.051720142364502], [10.10789966583252, 0.028255999088287354, 4.051720142364502], [9.85789966583252, 0.028255999088287354, 4.051720142364502], [9.60789966583252, 0.028255999088287354, 4.051720142364502], [9.35789966583252, 0.028255999088287354, 4.051720142364502], [9.10789966583252, 0.028255999088287354, 4.051720142364502], [8.85789966583252, 0.028255999088287354, 4.051720142364502], [8.60789966583252, 0.028255999088287354, 4.051720142364502], [8.35789966583252, 0.028255999088287354, 4.051720142364502], [8.10789966583252, 0.028255999088287354, 4.051720142364502], [7.8578996658325195, 0.028255999088287354, 4.051720142364502], [7.6078996658325195, 0.028255999088287354, 4.051720142364502], [7.3578996658325195, 0.028255999088287354, 4.051720142364502], [7.1078996658325195, 0.028255999088287354, 4.051720142364502], [6.8578996658325195, 0.028255999088287354, 4.051720142364502], [6.6078996658325195, 0.028255999088287354, 4.051720142364502], [6.3578996658325195, 0.028255999088287354, 4.051720142364502], [6.1078996658325195, 0.028255999088287354, 4.051720142364502], [5.8578996658325195, 0.028255999088287354, 4.051720142364502], [5.6078996658325195, 0.028255999088287354, 4.051720142364502], [5.3578996658325195, 0.028255999088287354, 4.051720142364502], [5.1078996658325195, 0.06345212459564209, 4.051720142364502], [4.8578996658325195, 0.1291433870792389, 4.051720142364502], [4.6078996658325195, 0.13754527270793915, 4.051720142364502], [4.3578996658325195, 0.13849949836730957, 4.051720142364502], [4.1078996658325195, 0.13722994923591614, 4.051720142364502], [3.8578996658325195, 0.1282738447189331, 4.051720142364502], [3.6078996658325195, 0.028255999088287354, 4.051720142364502], [3.3578996658325195, 0.028255999088287354, 4.051720142364502], [3.1078996658325195, 0.028255999088287354, 4.051720142364502], [2.8578996658325195, 0.028255999088287354, 4.051720142364502], [2.6078996658325195, 0.028255999088287354, 4.051720142364502], [2.3578996658325195, 0.028255999088287354, 4.051720142364502], [2.1078996658325195, 0.028255999088287354, 4.051720142364502], [1.8578996658325195, 0.028255999088287354, 4.051720142364502], [1.6078996658325195, 0.028255999088287354, 4.051720142364502], [1.3664182424545288, 0.028255999088287354, 3.98701548576355], [1.124936819076538, 0.028255999088287354, 3.9223108291625977], [0.8749368190765381, 0.028255999088287354, 3.9223108291625977], [0.6249368190765381, 0.028255999088287354, 3.9223108291625977], [0.3749368190765381, 0.028255999088287354, 3.9223108291625977], [0.12493681907653809, 0.028255999088287354, 3.9223108291625977], [-0.12506318092346191, 0.028255999088287354, 3.9223108291625977], [-0.3750631809234619, 0.028255999088287354, 3.9223108291625977], [-0.6250631809234619, 0.028255999088287354, 3.9223108291625977], [-0.8750631809234619, 0.028255999088287354, 3.9223108291625977], [-1.125063180923462, 0.028255999088287354, 3.9223108291625977]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 134, "episode_id": "135", "scene_id": "aayBHfsNo7d", "instruction": "Go down the hallway passed the stairs and living area with the wood table. Exit out into the backyard through the doorway. ", "start_position": [11.10789966583252, 0.028255999088287354, 4.051720142364502], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.4752899408340454, 0.028255999088287354, 3.9181699752807617], "goal_radius": 3.0, "reference_path": "[[11.10789966583252, 0.028255999088287354, 4.051720142364502], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [3.1888599395751953, 0.028255999088287354, 4.111730098724365], [0.7409150004386902, 0.028255999088287354, 3.886430025100708], [-1.4752899408340454, 0.028255999088287354, 3.9181699752807617]]", "geodesic_distance": 12.583898544311523, "gt_locations": "[[11.10789966583252, 0.028255999088287354, 4.051720142364502], [10.85789966583252, 0.028255999088287354, 4.051720142364502], [10.60789966583252, 0.028255999088287354, 4.051720142364502], [10.35789966583252, 0.028255999088287354, 4.051720142364502], [10.10789966583252, 0.028255999088287354, 4.051720142364502], [9.85789966583252, 0.028255999088287354, 4.051720142364502], [9.60789966583252, 0.028255999088287354, 4.051720142364502], [9.35789966583252, 0.028255999088287354, 4.051720142364502], [9.10789966583252, 0.028255999088287354, 4.051720142364502], [8.85789966583252, 0.028255999088287354, 4.051720142364502], [8.60789966583252, 0.028255999088287354, 4.051720142364502], [8.35789966583252, 0.028255999088287354, 4.051720142364502], [8.10789966583252, 0.028255999088287354, 4.051720142364502], [7.8578996658325195, 0.028255999088287354, 4.051720142364502], [7.6078996658325195, 0.028255999088287354, 4.051720142364502], [7.3578996658325195, 0.028255999088287354, 4.051720142364502], [7.1078996658325195, 0.028255999088287354, 4.051720142364502], [6.8578996658325195, 0.028255999088287354, 4.051720142364502], [6.6078996658325195, 0.028255999088287354, 4.051720142364502], [6.3578996658325195, 0.028255999088287354, 4.051720142364502], [6.1078996658325195, 0.028255999088287354, 4.051720142364502], [5.8578996658325195, 0.028255999088287354, 4.051720142364502], [5.6078996658325195, 0.028255999088287354, 4.051720142364502], [5.3578996658325195, 0.028255999088287354, 4.051720142364502], [5.1078996658325195, 0.06345212459564209, 4.051720142364502], [4.8578996658325195, 0.1291433870792389, 4.051720142364502], [4.6078996658325195, 0.13754527270793915, 4.051720142364502], [4.3578996658325195, 0.13849949836730957, 4.051720142364502], [4.1078996658325195, 0.13722994923591614, 4.051720142364502], [3.8578996658325195, 0.1282738447189331, 4.051720142364502], [3.6078996658325195, 0.028255999088287354, 4.051720142364502], [3.3578996658325195, 0.028255999088287354, 4.051720142364502], [3.1078996658325195, 0.028255999088287354, 4.051720142364502], [2.8578996658325195, 0.028255999088287354, 4.051720142364502], [2.6078996658325195, 0.028255999088287354, 4.051720142364502], [2.3578996658325195, 0.028255999088287354, 4.051720142364502], [2.1078996658325195, 0.028255999088287354, 4.051720142364502], [1.8578996658325195, 0.028255999088287354, 4.051720142364502], [1.6078996658325195, 0.028255999088287354, 4.051720142364502], [1.3664182424545288, 0.028255999088287354, 3.98701548576355], [1.124936819076538, 0.028255999088287354, 3.9223108291625977], [0.8749368190765381, 0.028255999088287354, 3.9223108291625977], [0.6249368190765381, 0.028255999088287354, 3.9223108291625977], [0.3749368190765381, 0.028255999088287354, 3.9223108291625977], [0.12493681907653809, 0.028255999088287354, 3.9223108291625977], [-0.12506318092346191, 0.028255999088287354, 3.9223108291625977], [-0.3750631809234619, 0.028255999088287354, 3.9223108291625977], [-0.6250631809234619, 0.028255999088287354, 3.9223108291625977], [-0.8750631809234619, 0.028255999088287354, 3.9223108291625977], [-1.125063180923462, 0.028255999088287354, 3.9223108291625977]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 135, "episode_id": "136", "scene_id": "aayBHfsNo7d", "instruction": "Go all the way to the glass double doors and stop in the doorway. ", "start_position": [11.10789966583252, 0.028255999088287354, 4.051720142364502], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.4752899408340454, 0.028255999088287354, 3.9181699752807617], "goal_radius": 3.0, "reference_path": "[[11.10789966583252, 0.028255999088287354, 4.051720142364502], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [3.1888599395751953, 0.028255999088287354, 4.111730098724365], [0.7409150004386902, 0.028255999088287354, 3.886430025100708], [-1.4752899408340454, 0.028255999088287354, 3.9181699752807617]]", "geodesic_distance": 12.583898544311523, "gt_locations": "[[11.10789966583252, 0.028255999088287354, 4.051720142364502], [10.85789966583252, 0.028255999088287354, 4.051720142364502], [10.60789966583252, 0.028255999088287354, 4.051720142364502], [10.35789966583252, 0.028255999088287354, 4.051720142364502], [10.10789966583252, 0.028255999088287354, 4.051720142364502], [9.85789966583252, 0.028255999088287354, 4.051720142364502], [9.60789966583252, 0.028255999088287354, 4.051720142364502], [9.35789966583252, 0.028255999088287354, 4.051720142364502], [9.10789966583252, 0.028255999088287354, 4.051720142364502], [8.85789966583252, 0.028255999088287354, 4.051720142364502], [8.60789966583252, 0.028255999088287354, 4.051720142364502], [8.35789966583252, 0.028255999088287354, 4.051720142364502], [8.10789966583252, 0.028255999088287354, 4.051720142364502], [7.8578996658325195, 0.028255999088287354, 4.051720142364502], [7.6078996658325195, 0.028255999088287354, 4.051720142364502], [7.3578996658325195, 0.028255999088287354, 4.051720142364502], [7.1078996658325195, 0.028255999088287354, 4.051720142364502], [6.8578996658325195, 0.028255999088287354, 4.051720142364502], [6.6078996658325195, 0.028255999088287354, 4.051720142364502], [6.3578996658325195, 0.028255999088287354, 4.051720142364502], [6.1078996658325195, 0.028255999088287354, 4.051720142364502], [5.8578996658325195, 0.028255999088287354, 4.051720142364502], [5.6078996658325195, 0.028255999088287354, 4.051720142364502], [5.3578996658325195, 0.028255999088287354, 4.051720142364502], [5.1078996658325195, 0.06345212459564209, 4.051720142364502], [4.8578996658325195, 0.1291433870792389, 4.051720142364502], [4.6078996658325195, 0.13754527270793915, 4.051720142364502], [4.3578996658325195, 0.13849949836730957, 4.051720142364502], [4.1078996658325195, 0.13722994923591614, 4.051720142364502], [3.8578996658325195, 0.1282738447189331, 4.051720142364502], [3.6078996658325195, 0.028255999088287354, 4.051720142364502], [3.3578996658325195, 0.028255999088287354, 4.051720142364502], [3.1078996658325195, 0.028255999088287354, 4.051720142364502], [2.8578996658325195, 0.028255999088287354, 4.051720142364502], [2.6078996658325195, 0.028255999088287354, 4.051720142364502], [2.3578996658325195, 0.028255999088287354, 4.051720142364502], [2.1078996658325195, 0.028255999088287354, 4.051720142364502], [1.8578996658325195, 0.028255999088287354, 4.051720142364502], [1.6078996658325195, 0.028255999088287354, 4.051720142364502], [1.3664182424545288, 0.028255999088287354, 3.98701548576355], [1.124936819076538, 0.028255999088287354, 3.9223108291625977], [0.8749368190765381, 0.028255999088287354, 3.9223108291625977], [0.6249368190765381, 0.028255999088287354, 3.9223108291625977], [0.3749368190765381, 0.028255999088287354, 3.9223108291625977], [0.12493681907653809, 0.028255999088287354, 3.9223108291625977], [-0.12506318092346191, 0.028255999088287354, 3.9223108291625977], [-0.3750631809234619, 0.028255999088287354, 3.9223108291625977], [-0.6250631809234619, 0.028255999088287354, 3.9223108291625977], [-0.8750631809234619, 0.028255999088287354, 3.9223108291625977], [-1.125063180923462, 0.028255999088287354, 3.9223108291625977]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 136, "episode_id": "137", "scene_id": "B6ByNegPMKs", "instruction": "Walk all the way down the hallway to the second exit sign. ", "start_position": [37.362300872802734, 0.08020400255918503, 28.600200653076172], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [36.89500045776367, 0.08020400255918503, 13.248900413513184], "goal_radius": 3.0, "reference_path": "[[37.362300872802734, 0.08020400255918503, 28.600200653076172], [36.541099548339844, 0.08020400255918503, 24.840499877929688], [36.52399826049805, 0.08020400255918503, 22.91119956970215], [36.37590026855469, 0.08020400255918503, 20.096799850463867], [36.42539978027344, 0.08020400255918503, 17.787799835205078], [36.69770050048828, 0.08020400255918503, 15.31659984588623], [36.89500045776367, 0.08020400255918503, 13.248900413513184]]", "geodesic_distance": 15.430036544799805, "gt_locations": "[[37.362300872802734, 0.08020400255918503, 28.600200653076172], [37.237300872802734, 0.08020400255918503, 28.38369369506836], [37.112300872802734, 0.08020400255918503, 28.167186737060547], [37.0475959777832, 0.08020400255918503, 27.925704956054688], [36.98289108276367, 0.08020400255918503, 27.684223175048828], [36.91818618774414, 0.08020400255918503, 27.44274139404297], [36.85348129272461, 0.08020400255918503, 27.20125961303711], [36.78877639770508, 0.08020400255918503, 26.95977783203125], [36.72407150268555, 0.08020400255918503, 26.71829605102539], [36.659366607666016, 0.08020400255918503, 26.47681427001953], [36.659366607666016, 0.08020400255918503, 26.22681427001953], [36.659366607666016, 0.08020400255918503, 25.97681427001953], [36.659366607666016, 0.08020400255918503, 25.72681427001953], [36.659366607666016, 0.08020400255918503, 25.47681427001953], [36.594661712646484, 0.08020400255918503, 25.235332489013672], [36.594661712646484, 0.08020400255918503, 24.985332489013672], [36.594661712646484, 0.08020400255918503, 24.735332489013672], [36.594661712646484, 0.08020400255918503, 24.485332489013672], [36.594661712646484, 0.08020400255918503, 24.235332489013672], [36.594661712646484, 0.08020400255918503, 23.985332489013672], [36.594661712646484, 0.08020400255918503, 23.735332489013672], [36.594661712646484, 0.08020400255918503, 23.485332489013672], [36.594661712646484, 0.08020400255918503, 23.235332489013672], [36.594661712646484, 0.08020400255918503, 22.985332489013672], [36.594661712646484, 0.08020400255918503, 22.735332489013672], [36.594661712646484, 0.08020400255918503, 22.485332489013672], [36.594661712646484, 0.08020400255918503, 22.235332489013672], [36.594661712646484, 0.08020400255918503, 21.985332489013672], [36.594661712646484, 0.08020400255918503, 21.735332489013672], [36.594661712646484, 0.08020400255918503, 21.485332489013672], [36.594661712646484, 0.08020400255918503, 21.235332489013672], [36.52995681762695, 0.08020400255918503, 20.993850708007812], [36.46525192260742, 0.08020400255918503, 20.752368927001953], [36.40054702758789, 0.08020400255918503, 20.510887145996094], [36.40054702758789, 0.08020400255918503, 20.260887145996094], [36.40054702758789, 0.08020400255918503, 20.010887145996094], [36.40054702758789, 0.08020400255918503, 19.760887145996094], [36.40054702758789, 0.08020400255918503, 19.510887145996094], [36.40054702758789, 0.08020400255918503, 19.260887145996094], [36.40054702758789, 0.08020400255918503, 19.010887145996094], [36.40054702758789, 0.08020400255918503, 18.760887145996094], [36.40054702758789, 0.08020400255918503, 18.510887145996094], [36.40054702758789, 0.08020400255918503, 18.260887145996094], [36.40054702758789, 0.08020400255918503, 18.010887145996094], [36.40054702758789, 0.08020400255918503, 17.760887145996094], [36.40054702758789, 0.08020400255918503, 17.510887145996094], [36.40054702758789, 0.08020400255918503, 17.260887145996094], [36.40054702758789, 0.08020400255918503, 17.010887145996094], [36.46525192260742, 0.08020400255918503, 16.769405364990234], [36.52995681762695, 0.08020400255918503, 16.527923583984375], [36.594661712646484, 0.08020400255918503, 16.286441802978516], [36.659366607666016, 0.08020400255918503, 16.044960021972656], [36.659366607666016, 0.08020400255918503, 15.794960021972656], [36.659366607666016, 0.08020400255918503, 15.544960021972656], [36.659366607666016, 0.08020400255918503, 15.294960021972656], [36.659366607666016, 0.08020400255918503, 15.044960021972656], [36.659366607666016, 0.08020400255918503, 14.794960021972656], [36.659366607666016, 0.08020400255918503, 14.544960021972656], [36.72407150268555, 0.08020400255918503, 14.303478240966797], [36.78877639770508, 0.08020400255918503, 14.061996459960938], [36.85348129272461, 0.08020400255918503, 13.820514678955078], [36.85348129272461, 0.08020400255918503, 13.570514678955078]]", "gt_actions": "[2, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 0]"}
{"id": 137, "episode_id": "138", "scene_id": "B6ByNegPMKs", "instruction": "Start moving forward down the corridor. You will pass offices on your left and right. Keep going until the hallway down the hallway until you get to an exit sign on your right and what looks like some lockers in front of you. There will also be a brown door with an exit sign above it in front of you. 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{"id": 138, "episode_id": "139", "scene_id": "B6ByNegPMKs", "instruction": "Walk down the corridor and keep going past the class offices. Stop outside of the area with the lockers. Stand next to the exit sign. 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{"id": 139, "episode_id": "140", "scene_id": "r1Q1Z4BcV1o", "instruction": "walk through open door, turn left, walk toward fireplace turn right, go outside, stop outside doorway. 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{"id": 140, "episode_id": "141", "scene_id": "r1Q1Z4BcV1o", "instruction": "Turn around and go pasr wooden  doorway, turn to the left and go down a hallway.  Go past a bar on the right.  Then go on to the patio, through the big double doors.  Wait there. 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{"id": 141, "episode_id": "142", "scene_id": "r1Q1Z4BcV1o", "instruction": "leave sitting room and turn left into hall. walk straight to fireplace and turn slight right toward open door. Go through door and stop on porch. 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{"id": 142, "episode_id": "143", "scene_id": "5q7pvUzZiYa", "instruction": "Walk up the stairs to the upper level of the home Turn and follow the banister railing around the corner. Continue along the banister and walk into the open room ahead with the couches. ", "start_position": [11.686100006103516, 1.4001753330230713, -3.8653600215911865], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.559609889984131, 3.4034252166748047, -3.8505899906158447], "goal_radius": 3.0, "reference_path": "[[11.686100006103516, 1.4001753330230713, -3.8653600215911865], [12.959699630737305, 2.319000720977783, -3.8164799213409424], [14.208499908447266, 3.2208263874053955, -3.7747199535369873], [14.962499618530273, 3.4034252166748047, -3.743220090866089], [12.6673002243042, 3.203425407409668, -2.5600600242614746], [9.791370391845703, 3.242081880569458, -2.906399965286255], [7.559609889984131, 3.4034252166748047, -3.8505899906158447]]", "geodesic_distance": 10.815557479858398, "gt_locations": "[[11.686100006103516, 1.4001753330230713, -3.8653600215911865], [11.902606010437012, 1.5697795152664185, -3.7403600215911865], [12.119112014770508, 1.7404602766036987, -3.6153600215911865], [12.360593795776367, 1.9224977493286133, -3.5506553649902344], [12.610593795776367, 2.1022958755493164, -3.5506553649902344], [12.860593795776367, 2.2820940017700195, -3.5506553649902344], [13.110593795776367, 2.4618918895721436, -3.5506553649902344], [13.360593795776367, 2.6416897773742676, -3.5506553649902344], [13.610593795776367, 2.8214876651763916, -3.5506553649902344], [13.860593795776367, 3.0012857913970947, -3.5506553649902344], [14.110593795776367, 3.1735923290252686, -3.5506553649902344], [14.360593795776367, 3.3386409282684326, -3.5506553649902344], [14.602075576782227, 3.4034252166748047, -3.6153600215911865], [14.537370681762695, 3.4034252166748047, -3.3738784790039062], [14.537370681762695, 3.4034252166748047, -3.1238784790039062], [14.320392608642578, 3.4034252166748047, -2.980926275253296], [14.078910827636719, 3.3867053985595703, -2.9162213802337646], [13.83742904663086, 3.369985342025757, -2.8515164852142334], [13.595947265625, 3.3532655239105225, -2.786811590194702], [13.35446548461914, 3.336545467376709, -2.722106695175171], [13.112983703613281, 3.2456541061401367, -2.6574018001556396], [12.862983703613281, 3.203425407409668, -2.6574018001556396], [12.612983703613281, 3.203425407409668, -2.6574018001556396], [12.362983703613281, 3.203425407409668, -2.6574018001556396], [12.112983703613281, 3.203425407409668, -2.6574018001556396], [11.862983703613281, 3.203425407409668, -2.6574018001556396], [11.612983703613281, 3.2843544483184814, -2.6574018001556396], [11.362983703613281, 3.2424697875976562, -2.6574018001556396], [11.112983703613281, 3.203425407409668, -2.6574018001556396], [10.871501922607422, 3.203425407409668, -2.722106456756592], [10.630020141601562, 3.203425407409668, -2.786811113357544], [10.388538360595703, 3.203425407409668, -2.851515769958496], [10.138538360595703, 3.209589958190918, -2.851515769958496], [9.897056579589844, 3.2354657649993896, -2.9162204265594482], [9.655574798583984, 3.2613413333892822, -2.9809250831604004], [9.414093017578125, 3.287217140197754, -3.0456297397613525], [9.172611236572266, 3.284027576446533, -3.1103343963623047], [8.95610523223877, 3.294809579849243, -3.2353343963623047], [8.739599227905273, 3.302891492843628, -3.3603343963623047], [8.523093223571777, 3.3120875358581543, -3.4853343963623047], [8.306587219238281, 3.343930244445801, -3.6103343963623047], [8.065105438232422, 3.3795430660247803, -3.675039052963257], [7.823624134063721, 3.4034252166748047, -3.739743709564209]]", "gt_actions": "[2, 2, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 143, "episode_id": "144", "scene_id": "5q7pvUzZiYa", "instruction": "Head up stairs. At top of stairs turn hard right and walk along railing. Continue straight and turn towards a slight right until you are waiting between the gray chair at end of the table and a tan doormat. ", "start_position": [11.686100006103516, 1.4001753330230713, -3.8653600215911865], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.559609889984131, 3.4034252166748047, -3.8505899906158447], "goal_radius": 3.0, "reference_path": "[[11.686100006103516, 1.4001753330230713, -3.8653600215911865], [12.959699630737305, 2.319000720977783, -3.8164799213409424], [14.208499908447266, 3.2208263874053955, -3.7747199535369873], [14.962499618530273, 3.4034252166748047, -3.743220090866089], [12.6673002243042, 3.203425407409668, -2.5600600242614746], [9.791370391845703, 3.242081880569458, -2.906399965286255], [7.559609889984131, 3.4034252166748047, -3.8505899906158447]]", "geodesic_distance": 10.815557479858398, "gt_locations": "[[11.686100006103516, 1.4001753330230713, -3.8653600215911865], [11.902606010437012, 1.5697795152664185, -3.7403600215911865], [12.119112014770508, 1.7404602766036987, -3.6153600215911865], [12.360593795776367, 1.9224977493286133, -3.5506553649902344], [12.610593795776367, 2.1022958755493164, -3.5506553649902344], [12.860593795776367, 2.2820940017700195, -3.5506553649902344], [13.110593795776367, 2.4618918895721436, -3.5506553649902344], [13.360593795776367, 2.6416897773742676, -3.5506553649902344], [13.610593795776367, 2.8214876651763916, -3.5506553649902344], [13.860593795776367, 3.0012857913970947, -3.5506553649902344], [14.110593795776367, 3.1735923290252686, -3.5506553649902344], [14.360593795776367, 3.3386409282684326, -3.5506553649902344], [14.602075576782227, 3.4034252166748047, -3.6153600215911865], [14.537370681762695, 3.4034252166748047, -3.3738784790039062], [14.537370681762695, 3.4034252166748047, -3.1238784790039062], [14.320392608642578, 3.4034252166748047, -2.980926275253296], [14.078910827636719, 3.3867053985595703, -2.9162213802337646], [13.83742904663086, 3.369985342025757, -2.8515164852142334], [13.595947265625, 3.3532655239105225, -2.786811590194702], [13.35446548461914, 3.336545467376709, -2.722106695175171], [13.112983703613281, 3.2456541061401367, -2.6574018001556396], [12.862983703613281, 3.203425407409668, -2.6574018001556396], [12.612983703613281, 3.203425407409668, -2.6574018001556396], [12.362983703613281, 3.203425407409668, -2.6574018001556396], [12.112983703613281, 3.203425407409668, -2.6574018001556396], [11.862983703613281, 3.203425407409668, -2.6574018001556396], [11.612983703613281, 3.2843544483184814, -2.6574018001556396], [11.362983703613281, 3.2424697875976562, -2.6574018001556396], [11.112983703613281, 3.203425407409668, -2.6574018001556396], [10.871501922607422, 3.203425407409668, -2.722106456756592], [10.630020141601562, 3.203425407409668, -2.786811113357544], [10.388538360595703, 3.203425407409668, -2.851515769958496], [10.138538360595703, 3.209589958190918, -2.851515769958496], [9.897056579589844, 3.2354657649993896, -2.9162204265594482], [9.655574798583984, 3.2613413333892822, -2.9809250831604004], [9.414093017578125, 3.287217140197754, -3.0456297397613525], [9.172611236572266, 3.284027576446533, -3.1103343963623047], [8.95610523223877, 3.294809579849243, -3.2353343963623047], [8.739599227905273, 3.302891492843628, -3.3603343963623047], [8.523093223571777, 3.3120875358581543, -3.4853343963623047], [8.306587219238281, 3.343930244445801, -3.6103343963623047], [8.065105438232422, 3.3795430660247803, -3.675039052963257], [7.823624134063721, 3.4034252166748047, -3.739743709564209]]", "gt_actions": "[2, 2, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 144, "episode_id": "145", "scene_id": "5q7pvUzZiYa", "instruction": "Go up the stairs and walk past the kitchen.  Stop at the chair at the dining table that faces the windows. ", "start_position": [11.686100006103516, 1.4001753330230713, -3.8653600215911865], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.559609889984131, 3.4034252166748047, -3.8505899906158447], "goal_radius": 3.0, "reference_path": "[[11.686100006103516, 1.4001753330230713, -3.8653600215911865], [12.959699630737305, 2.319000720977783, -3.8164799213409424], [14.208499908447266, 3.2208263874053955, -3.7747199535369873], [14.962499618530273, 3.4034252166748047, -3.743220090866089], [12.6673002243042, 3.203425407409668, -2.5600600242614746], [9.791370391845703, 3.242081880569458, -2.906399965286255], [7.559609889984131, 3.4034252166748047, -3.8505899906158447]]", "geodesic_distance": 10.815557479858398, "gt_locations": "[[11.686100006103516, 1.4001753330230713, -3.8653600215911865], [11.902606010437012, 1.5697795152664185, -3.7403600215911865], [12.119112014770508, 1.7404602766036987, -3.6153600215911865], [12.360593795776367, 1.9224977493286133, -3.5506553649902344], [12.610593795776367, 2.1022958755493164, -3.5506553649902344], [12.860593795776367, 2.2820940017700195, -3.5506553649902344], [13.110593795776367, 2.4618918895721436, -3.5506553649902344], [13.360593795776367, 2.6416897773742676, -3.5506553649902344], [13.610593795776367, 2.8214876651763916, -3.5506553649902344], [13.860593795776367, 3.0012857913970947, -3.5506553649902344], [14.110593795776367, 3.1735923290252686, -3.5506553649902344], [14.360593795776367, 3.3386409282684326, -3.5506553649902344], [14.602075576782227, 3.4034252166748047, -3.6153600215911865], [14.537370681762695, 3.4034252166748047, -3.3738784790039062], [14.537370681762695, 3.4034252166748047, -3.1238784790039062], [14.320392608642578, 3.4034252166748047, -2.980926275253296], [14.078910827636719, 3.3867053985595703, -2.9162213802337646], [13.83742904663086, 3.369985342025757, -2.8515164852142334], [13.595947265625, 3.3532655239105225, -2.786811590194702], [13.35446548461914, 3.336545467376709, -2.722106695175171], [13.112983703613281, 3.2456541061401367, -2.6574018001556396], [12.862983703613281, 3.203425407409668, -2.6574018001556396], [12.612983703613281, 3.203425407409668, -2.6574018001556396], [12.362983703613281, 3.203425407409668, -2.6574018001556396], [12.112983703613281, 3.203425407409668, -2.6574018001556396], [11.862983703613281, 3.203425407409668, -2.6574018001556396], [11.612983703613281, 3.2843544483184814, -2.6574018001556396], [11.362983703613281, 3.2424697875976562, -2.6574018001556396], [11.112983703613281, 3.203425407409668, -2.6574018001556396], [10.871501922607422, 3.203425407409668, -2.722106456756592], [10.630020141601562, 3.203425407409668, -2.786811113357544], [10.388538360595703, 3.203425407409668, -2.851515769958496], [10.138538360595703, 3.209589958190918, -2.851515769958496], [9.897056579589844, 3.2354657649993896, -2.9162204265594482], [9.655574798583984, 3.2613413333892822, -2.9809250831604004], [9.414093017578125, 3.287217140197754, -3.0456297397613525], [9.172611236572266, 3.284027576446533, -3.1103343963623047], [8.95610523223877, 3.294809579849243, -3.2353343963623047], [8.739599227905273, 3.302891492843628, -3.3603343963623047], [8.523093223571777, 3.3120875358581543, -3.4853343963623047], [8.306587219238281, 3.343930244445801, -3.6103343963623047], [8.065105438232422, 3.3795430660247803, -3.675039052963257], [7.823624134063721, 3.4034252166748047, -3.739743709564209]]", "gt_actions": "[2, 2, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 145, "episode_id": "146", "scene_id": "V2XKFyX4ASd", "instruction": "Walk past the bed and turn left. Walk through the door way and stop by the couch. ", "start_position": [5.758540153503418, 2.915771245956421, -6.962540149688721], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [2.49042010307312, 2.9030959606170654, -4.905179977416992], "goal_radius": 3.0, "reference_path": "[[5.758540153503418, 2.915771245956421, -6.962540149688721], [4.762420177459717, 2.9030959606170654, -7.1387200355529785], [3.2864201068878174, 2.9030959606170654, -7.163360118865967], [2.3150599002838135, 2.9030959606170654, -6.148950099945068], [2.49042010307312, 2.9030959606170654, -4.905179977416992]]", "geodesic_distance": 4.845299243927002, "gt_locations": "[[5.758540153503418, 2.915771245956421, -6.962540149688721], [5.517058849334717, 2.9030959606170654, -6.8978352546691895], [5.275577545166016, 2.9030959606170654, -6.833130359649658], [5.059071063995361, 2.9030959606170654, -6.958130359649658], [4.81758975982666, 2.9030959606170654, -7.0228352546691895], [4.576108455657959, 2.9030959606170654, -7.087540149688721], [4.326108455657959, 2.9030959606170654, -7.087540149688721], [4.076108455657959, 2.9030959606170654, -7.087540149688721], [3.826108455657959, 2.9030959606170654, -7.087540149688721], [3.576108455657959, 2.9030959606170654, -7.087540149688721], [3.3596019744873047, 2.9030959606170654, -6.962540149688721], [3.2097978591918945, 2.9030959606170654, -6.746033668518066], [2.9683163166046143, 2.930067300796509, -6.681328773498535], [2.75180983543396, 2.9030959606170654, -6.556328773498535], [2.575033187866211, 2.9030959606170654, -6.379551887512207], [2.559798002243042, 2.9030959606170654, -6.129551887512207], [2.559798002243042, 2.9030959606170654, -5.879551887512207], [2.559798002243042, 2.9030959606170654, -5.629551887512207], [2.559798002243042, 2.9030959606170654, -5.379551887512207]]", "gt_actions": "[3, 3, 3, 1, 1, 3, 3, 3, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 2, 2, 1, 3, 3, 3, 1, 2, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 146, "episode_id": "147", "scene_id": "V2XKFyX4ASd", "instruction": "Turn right and walk across the bed. Turn slightly left and exit the bedroom. Walk towards the sofa and wait there. ", "start_position": [5.758540153503418, 2.915771245956421, -6.962540149688721], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [2.49042010307312, 2.9030959606170654, -4.905179977416992], "goal_radius": 3.0, "reference_path": "[[5.758540153503418, 2.915771245956421, -6.962540149688721], [4.762420177459717, 2.9030959606170654, -7.1387200355529785], [3.2864201068878174, 2.9030959606170654, -7.163360118865967], [2.3150599002838135, 2.9030959606170654, -6.148950099945068], [2.49042010307312, 2.9030959606170654, -4.905179977416992]]", "geodesic_distance": 4.845299243927002, "gt_locations": "[[5.758540153503418, 2.915771245956421, -6.962540149688721], [5.517058849334717, 2.9030959606170654, -6.8978352546691895], [5.275577545166016, 2.9030959606170654, -6.833130359649658], [5.059071063995361, 2.9030959606170654, -6.958130359649658], [4.81758975982666, 2.9030959606170654, -7.0228352546691895], [4.576108455657959, 2.9030959606170654, -7.087540149688721], [4.326108455657959, 2.9030959606170654, -7.087540149688721], [4.076108455657959, 2.9030959606170654, -7.087540149688721], [3.826108455657959, 2.9030959606170654, -7.087540149688721], [3.576108455657959, 2.9030959606170654, -7.087540149688721], [3.3596019744873047, 2.9030959606170654, -6.962540149688721], [3.2097978591918945, 2.9030959606170654, -6.746033668518066], [2.9683163166046143, 2.930067300796509, -6.681328773498535], [2.75180983543396, 2.9030959606170654, -6.556328773498535], [2.575033187866211, 2.9030959606170654, -6.379551887512207], [2.559798002243042, 2.9030959606170654, -6.129551887512207], [2.559798002243042, 2.9030959606170654, -5.879551887512207], [2.559798002243042, 2.9030959606170654, -5.629551887512207], [2.559798002243042, 2.9030959606170654, -5.379551887512207]]", "gt_actions": "[3, 3, 3, 1, 1, 3, 3, 3, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 2, 2, 1, 3, 3, 3, 1, 2, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 147, "episode_id": "148", "scene_id": "V2XKFyX4ASd", "instruction": "Go toward the bedroom door and exit into the living room. Go past the lamp and wait there. ", "start_position": [5.758540153503418, 2.915771245956421, -6.962540149688721], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [2.49042010307312, 2.9030959606170654, -4.905179977416992], "goal_radius": 3.0, "reference_path": "[[5.758540153503418, 2.915771245956421, -6.962540149688721], [4.762420177459717, 2.9030959606170654, -7.1387200355529785], [3.2864201068878174, 2.9030959606170654, -7.163360118865967], [2.3150599002838135, 2.9030959606170654, -6.148950099945068], [2.49042010307312, 2.9030959606170654, -4.905179977416992]]", "geodesic_distance": 4.845299243927002, "gt_locations": "[[5.758540153503418, 2.915771245956421, -6.962540149688721], [5.517058849334717, 2.9030959606170654, -6.8978352546691895], [5.275577545166016, 2.9030959606170654, -6.833130359649658], [5.059071063995361, 2.9030959606170654, -6.958130359649658], [4.81758975982666, 2.9030959606170654, -7.0228352546691895], [4.576108455657959, 2.9030959606170654, -7.087540149688721], [4.326108455657959, 2.9030959606170654, -7.087540149688721], [4.076108455657959, 2.9030959606170654, -7.087540149688721], [3.826108455657959, 2.9030959606170654, -7.087540149688721], [3.576108455657959, 2.9030959606170654, -7.087540149688721], [3.3596019744873047, 2.9030959606170654, -6.962540149688721], [3.2097978591918945, 2.9030959606170654, -6.746033668518066], [2.9683163166046143, 2.930067300796509, -6.681328773498535], [2.75180983543396, 2.9030959606170654, -6.556328773498535], [2.575033187866211, 2.9030959606170654, -6.379551887512207], [2.559798002243042, 2.9030959606170654, -6.129551887512207], [2.559798002243042, 2.9030959606170654, -5.879551887512207], [2.559798002243042, 2.9030959606170654, -5.629551887512207], [2.559798002243042, 2.9030959606170654, -5.379551887512207]]", "gt_actions": "[3, 3, 3, 1, 1, 3, 3, 3, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 2, 2, 1, 3, 3, 3, 1, 2, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 148, "episode_id": "149", "scene_id": "vyrNrziPKCB", "instruction": "Take a left and walk down the stairs. Wait at the bottom of the stairs. ", "start_position": [1.630120038986206, 3.598568916320801, 14.456399917602539], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [7.201630115509033, 0.19856905937194824, 8.949009895324707], "goal_radius": 3.0, "reference_path": "[[1.630120038986206, 3.598568916320801, 14.456399917602539], [1.6399699449539185, 3.598568916320801, 13.413000106811523], [3.7388899326324463, 3.268765926361084, 11.298299789428711], [3.72337007522583, 2.797111749649048, 10.616000175476074], [3.6976399421691895, 1.9476674795150757, 9.480199813842773], [7.201630115509033, 0.19856905937194824, 8.949009895324707]]", "geodesic_distance": 9.6182222366333, "gt_locations": "[[1.630120038986206, 3.598568916320801, 14.456399917602539], [1.630120038986206, 3.598568916320801, 14.206399917602539], [1.630120038986206, 3.598568916320801, 13.956399917602539], [1.630120038986206, 3.598568916320801, 13.706399917602539], [1.806896686553955, 3.598568916320801, 13.529623031616211], [1.983673334121704, 3.598568916320801, 13.352846145629883], [2.160449981689453, 3.598568916320801, 13.176069259643555], [2.337226629257202, 3.598568916320801, 12.999292373657227], [2.514003276824951, 3.598568916320801, 12.822515487670898], [2.6907799243927, 3.598568916320801, 12.64573860168457], [2.867556571960449, 3.598568916320801, 12.468961715698242], [3.0443332195281982, 3.598568916320801, 12.292184829711914], [3.2211098670959473, 3.598568916320801, 12.115407943725586], [3.358149766921997, 3.5360984802246094, 11.900506973266602], [3.483149766921997, 3.4429664611816406, 11.684000968933105], [3.547854423522949, 3.3217296600341797, 11.442519187927246], [3.6125590801239014, 3.180778741836548, 11.201037406921387], [3.6772637367248535, 3.024948835372925, 10.959555625915527], [3.7419683933258057, 2.865525007247925, 10.718073844909668], [3.806673049926758, 2.6731932163238525, 10.476592063903809], [3.87137770652771, 2.456005573272705, 10.23511028289795], [3.936082363128662, 2.23557186126709, 9.99362850189209], [3.936082363128662, 2.032550096511841, 9.74362850189209], [4.061082363128662, 1.861558198928833, 9.527122497558594], [4.302563667297363, 1.7929675579071045, 9.462417602539062], [4.5440449714660645, 1.6497180461883545, 9.397712707519531], [4.785526275634766, 1.4690430164337158, 9.3330078125], [5.027007579803467, 1.288367748260498, 9.268302917480469], [5.268488883972168, 1.1076927185058594, 9.203598022460938], [5.509970188140869, 0.9270175695419312, 9.138893127441406], [5.75145149230957, 0.7463423013687134, 9.074188232421875], [5.9929327964782715, 0.5191088914871216, 9.009483337402344], [6.234414100646973, 0.38104504346847534, 8.944778442382812], [6.475895404815674, 0.19856905937194824, 8.880073547363281], [6.725895404815674, 0.19856905937194824, 8.880073547363281]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 149, "episode_id": "150", "scene_id": "vyrNrziPKCB", "instruction": "Turn to the left and walk around the pool table to the stairs. Walk down the stairs and wait at the bottom. ", "start_position": [1.630120038986206, 3.598568916320801, 14.456399917602539], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [7.201630115509033, 0.19856905937194824, 8.949009895324707], "goal_radius": 3.0, "reference_path": "[[1.630120038986206, 3.598568916320801, 14.456399917602539], [1.6399699449539185, 3.598568916320801, 13.413000106811523], [3.7388899326324463, 3.268765926361084, 11.298299789428711], [3.72337007522583, 2.797111749649048, 10.616000175476074], [3.6976399421691895, 1.9476674795150757, 9.480199813842773], [7.201630115509033, 0.19856905937194824, 8.949009895324707]]", "geodesic_distance": 9.6182222366333, "gt_locations": "[[1.630120038986206, 3.598568916320801, 14.456399917602539], [1.630120038986206, 3.598568916320801, 14.206399917602539], [1.630120038986206, 3.598568916320801, 13.956399917602539], [1.630120038986206, 3.598568916320801, 13.706399917602539], [1.806896686553955, 3.598568916320801, 13.529623031616211], [1.983673334121704, 3.598568916320801, 13.352846145629883], [2.160449981689453, 3.598568916320801, 13.176069259643555], [2.337226629257202, 3.598568916320801, 12.999292373657227], [2.514003276824951, 3.598568916320801, 12.822515487670898], [2.6907799243927, 3.598568916320801, 12.64573860168457], [2.867556571960449, 3.598568916320801, 12.468961715698242], [3.0443332195281982, 3.598568916320801, 12.292184829711914], [3.2211098670959473, 3.598568916320801, 12.115407943725586], [3.358149766921997, 3.5360984802246094, 11.900506973266602], [3.483149766921997, 3.4429664611816406, 11.684000968933105], [3.547854423522949, 3.3217296600341797, 11.442519187927246], [3.6125590801239014, 3.180778741836548, 11.201037406921387], [3.6772637367248535, 3.024948835372925, 10.959555625915527], [3.7419683933258057, 2.865525007247925, 10.718073844909668], [3.806673049926758, 2.6731932163238525, 10.476592063903809], [3.87137770652771, 2.456005573272705, 10.23511028289795], [3.936082363128662, 2.23557186126709, 9.99362850189209], [3.936082363128662, 2.032550096511841, 9.74362850189209], [4.061082363128662, 1.861558198928833, 9.527122497558594], [4.302563667297363, 1.7929675579071045, 9.462417602539062], [4.5440449714660645, 1.6497180461883545, 9.397712707519531], [4.785526275634766, 1.4690430164337158, 9.3330078125], [5.027007579803467, 1.288367748260498, 9.268302917480469], [5.268488883972168, 1.1076927185058594, 9.203598022460938], [5.509970188140869, 0.9270175695419312, 9.138893127441406], [5.75145149230957, 0.7463423013687134, 9.074188232421875], [5.9929327964782715, 0.5191088914871216, 9.009483337402344], [6.234414100646973, 0.38104504346847534, 8.944778442382812], [6.475895404815674, 0.19856905937194824, 8.880073547363281], [6.725895404815674, 0.19856905937194824, 8.880073547363281]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 150, "episode_id": "151", "scene_id": "vyrNrziPKCB", "instruction": "Walk past the coffee table to the top of the stairs. Walk down the stairs and turn right. Walk down the stairs and stop at the bottom of the stairs. ", "start_position": [1.630120038986206, 3.598568916320801, 14.456399917602539], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [7.201630115509033, 0.19856905937194824, 8.949009895324707], "goal_radius": 3.0, "reference_path": "[[1.630120038986206, 3.598568916320801, 14.456399917602539], [1.6399699449539185, 3.598568916320801, 13.413000106811523], [3.7388899326324463, 3.268765926361084, 11.298299789428711], [3.72337007522583, 2.797111749649048, 10.616000175476074], [3.6976399421691895, 1.9476674795150757, 9.480199813842773], [7.201630115509033, 0.19856905937194824, 8.949009895324707]]", "geodesic_distance": 9.6182222366333, "gt_locations": "[[1.630120038986206, 3.598568916320801, 14.456399917602539], [1.630120038986206, 3.598568916320801, 14.206399917602539], [1.630120038986206, 3.598568916320801, 13.956399917602539], [1.630120038986206, 3.598568916320801, 13.706399917602539], [1.806896686553955, 3.598568916320801, 13.529623031616211], [1.983673334121704, 3.598568916320801, 13.352846145629883], [2.160449981689453, 3.598568916320801, 13.176069259643555], [2.337226629257202, 3.598568916320801, 12.999292373657227], [2.514003276824951, 3.598568916320801, 12.822515487670898], [2.6907799243927, 3.598568916320801, 12.64573860168457], [2.867556571960449, 3.598568916320801, 12.468961715698242], [3.0443332195281982, 3.598568916320801, 12.292184829711914], [3.2211098670959473, 3.598568916320801, 12.115407943725586], [3.358149766921997, 3.5360984802246094, 11.900506973266602], [3.483149766921997, 3.4429664611816406, 11.684000968933105], [3.547854423522949, 3.3217296600341797, 11.442519187927246], [3.6125590801239014, 3.180778741836548, 11.201037406921387], [3.6772637367248535, 3.024948835372925, 10.959555625915527], [3.7419683933258057, 2.865525007247925, 10.718073844909668], [3.806673049926758, 2.6731932163238525, 10.476592063903809], [3.87137770652771, 2.456005573272705, 10.23511028289795], [3.936082363128662, 2.23557186126709, 9.99362850189209], [3.936082363128662, 2.032550096511841, 9.74362850189209], [4.061082363128662, 1.861558198928833, 9.527122497558594], [4.302563667297363, 1.7929675579071045, 9.462417602539062], [4.5440449714660645, 1.6497180461883545, 9.397712707519531], [4.785526275634766, 1.4690430164337158, 9.3330078125], [5.027007579803467, 1.288367748260498, 9.268302917480469], [5.268488883972168, 1.1076927185058594, 9.203598022460938], [5.509970188140869, 0.9270175695419312, 9.138893127441406], [5.75145149230957, 0.7463423013687134, 9.074188232421875], [5.9929327964782715, 0.5191088914871216, 9.009483337402344], [6.234414100646973, 0.38104504346847534, 8.944778442382812], [6.475895404815674, 0.19856905937194824, 8.880073547363281], [6.725895404815674, 0.19856905937194824, 8.880073547363281]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 151, "episode_id": "152", "scene_id": "5LpN3gDmAk7", "instruction": "Go to the bottom of the stairs. Go past the stairs and face the light switches. Go past the table and take a left. Go toward the man at the end of the hall. ", "start_position": [4.0890398025512695, -1.0843499898910522, 12.592900276184082], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [9.175270080566406, -1.0843499898910522, 6.389739990234375], "goal_radius": 3.0, "reference_path": "[[4.0890398025512695, -1.0843499898910522, 12.592900276184082], [3.1697399616241455, -1.0843499898910522, 10.744999885559082], [8.674449920654297, -1.0843499898910522, 8.6083402633667], [8.957229614257812, -1.0843499898910522, 7.325819969177246], [9.175270080566406, -1.0843499898910522, 6.389739990234375]]", "geodesic_distance": 9.248169898986816, "gt_locations": "[[4.0890398025512695, -1.0843499898910522, 12.592900276184082], [3.9640398025512695, -1.0843499898910522, 12.376394271850586], [3.8390398025512695, -1.0843499898910522, 12.15988826751709], [3.7140398025512695, -1.0843499898910522, 11.943382263183594], [3.5890398025512695, -1.0843499898910522, 11.726876258850098], [3.4640398025512695, -1.0843499898910522, 11.510370254516602], [3.3390398025512695, -1.0843499898910522, 11.293864250183105], [3.2743349075317383, -1.0843499898910522, 11.052382469177246], [3.4511115550994873, -1.0843499898910522, 10.875605583190918], [3.6278882026672363, -1.0843499898910522, 10.69882869720459], [3.8046648502349854, -1.0843499898910522, 10.522051811218262], [3.9814414978027344, -1.0843499898910522, 10.345274925231934], [4.197947978973389, -1.0843499898910522, 10.220274925231934], [4.447947978973389, -1.0843499898910522, 10.156285285949707], [4.697947978973389, -1.0843499898910522, 10.156285285949707], [4.93942928314209, -1.0843499898910522, 10.091580390930176], [5.180910587310791, -1.0843499898910522, 10.026875495910645], [5.422391891479492, -1.0843499898910522, 9.962170600891113], [5.663873195648193, -1.0843499898910522, 9.897465705871582], [5.9053544998168945, -1.0843499898910522, 9.83276081085205], [6.1553544998168945, -1.0843499898910522, 9.83276081085205], [6.4053544998168945, -1.0843499898910522, 9.83276081085205], [6.646835803985596, -1.0843499898910522, 9.76805591583252], [6.896835803985596, -1.0843499898910522, 9.76805591583252], [7.118052005767822, -1.0843499898910522, 9.63571834564209], [7.334558486938477, -1.0843499898910522, 9.51071834564209], [7.551064968109131, -1.0843499898910522, 9.38571834564209], [7.767571449279785, -1.0843499898910522, 9.26071834564209], [7.9840779304504395, -1.0843499898910522, 9.13571834564209], [8.200584411621094, -1.0843499898910522, 9.01071834564209], [8.377361297607422, -1.0843499898910522, 8.833941459655762], [8.502361297607422, -1.0843499898910522, 8.617435455322266], [8.567066192626953, -1.0843499898910522, 8.375953674316406], [8.631771087646484, -1.0843499898910522, 8.134471893310547], [8.696475982666016, -1.0843499898910522, 7.892990589141846], [8.821475982666016, -1.0843499898910522, 7.676484107971191], [8.886180877685547, -1.0843499898910522, 7.43500280380249], [8.950885772705078, -1.0843499898910522, 7.193521499633789], [9.01559066772461, -1.0843499898910522, 6.952040195465088], [9.08029556274414, -1.0843499898910522, 6.710558891296387]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 152, "episode_id": "153", "scene_id": "5LpN3gDmAk7", "instruction": "Turn right and then another right, walking to the end of the living room. Turn left after the table and stop in the doorway to outside. ", "start_position": [4.0890398025512695, -1.0843499898910522, 12.592900276184082], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [9.175270080566406, -1.0843499898910522, 6.389739990234375], "goal_radius": 3.0, "reference_path": "[[4.0890398025512695, -1.0843499898910522, 12.592900276184082], [3.1697399616241455, -1.0843499898910522, 10.744999885559082], [8.674449920654297, -1.0843499898910522, 8.6083402633667], [8.957229614257812, -1.0843499898910522, 7.325819969177246], [9.175270080566406, -1.0843499898910522, 6.389739990234375]]", "geodesic_distance": 9.248169898986816, "gt_locations": "[[4.0890398025512695, -1.0843499898910522, 12.592900276184082], [3.9640398025512695, -1.0843499898910522, 12.376394271850586], [3.8390398025512695, -1.0843499898910522, 12.15988826751709], [3.7140398025512695, -1.0843499898910522, 11.943382263183594], [3.5890398025512695, -1.0843499898910522, 11.726876258850098], [3.4640398025512695, -1.0843499898910522, 11.510370254516602], [3.3390398025512695, -1.0843499898910522, 11.293864250183105], [3.2743349075317383, -1.0843499898910522, 11.052382469177246], [3.4511115550994873, -1.0843499898910522, 10.875605583190918], [3.6278882026672363, -1.0843499898910522, 10.69882869720459], [3.8046648502349854, -1.0843499898910522, 10.522051811218262], [3.9814414978027344, -1.0843499898910522, 10.345274925231934], [4.197947978973389, -1.0843499898910522, 10.220274925231934], [4.447947978973389, -1.0843499898910522, 10.156285285949707], [4.697947978973389, -1.0843499898910522, 10.156285285949707], [4.93942928314209, -1.0843499898910522, 10.091580390930176], [5.180910587310791, -1.0843499898910522, 10.026875495910645], [5.422391891479492, -1.0843499898910522, 9.962170600891113], [5.663873195648193, -1.0843499898910522, 9.897465705871582], [5.9053544998168945, -1.0843499898910522, 9.83276081085205], [6.1553544998168945, -1.0843499898910522, 9.83276081085205], [6.4053544998168945, -1.0843499898910522, 9.83276081085205], [6.646835803985596, -1.0843499898910522, 9.76805591583252], [6.896835803985596, -1.0843499898910522, 9.76805591583252], [7.118052005767822, -1.0843499898910522, 9.63571834564209], [7.334558486938477, -1.0843499898910522, 9.51071834564209], [7.551064968109131, -1.0843499898910522, 9.38571834564209], [7.767571449279785, -1.0843499898910522, 9.26071834564209], [7.9840779304504395, -1.0843499898910522, 9.13571834564209], [8.200584411621094, -1.0843499898910522, 9.01071834564209], [8.377361297607422, -1.0843499898910522, 8.833941459655762], [8.502361297607422, -1.0843499898910522, 8.617435455322266], [8.567066192626953, -1.0843499898910522, 8.375953674316406], [8.631771087646484, -1.0843499898910522, 8.134471893310547], [8.696475982666016, -1.0843499898910522, 7.892990589141846], [8.821475982666016, -1.0843499898910522, 7.676484107971191], [8.886180877685547, -1.0843499898910522, 7.43500280380249], [8.950885772705078, -1.0843499898910522, 7.193521499633789], [9.01559066772461, -1.0843499898910522, 6.952040195465088], [9.08029556274414, -1.0843499898910522, 6.710558891296387]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 153, "episode_id": "154", "scene_id": "5LpN3gDmAk7", "instruction": "Turn right out of the wine room. Turn right past the dining room table and chairs. Turn left and stop by the couch. ", "start_position": [4.0890398025512695, -1.0843499898910522, 12.592900276184082], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [9.175270080566406, -1.0843499898910522, 6.389739990234375], "goal_radius": 3.0, "reference_path": "[[4.0890398025512695, -1.0843499898910522, 12.592900276184082], [3.1697399616241455, -1.0843499898910522, 10.744999885559082], [8.674449920654297, -1.0843499898910522, 8.6083402633667], [8.957229614257812, -1.0843499898910522, 7.325819969177246], [9.175270080566406, -1.0843499898910522, 6.389739990234375]]", "geodesic_distance": 9.248169898986816, "gt_locations": "[[4.0890398025512695, -1.0843499898910522, 12.592900276184082], [3.9640398025512695, -1.0843499898910522, 12.376394271850586], [3.8390398025512695, -1.0843499898910522, 12.15988826751709], [3.7140398025512695, -1.0843499898910522, 11.943382263183594], [3.5890398025512695, -1.0843499898910522, 11.726876258850098], [3.4640398025512695, -1.0843499898910522, 11.510370254516602], [3.3390398025512695, -1.0843499898910522, 11.293864250183105], [3.2743349075317383, -1.0843499898910522, 11.052382469177246], [3.4511115550994873, -1.0843499898910522, 10.875605583190918], [3.6278882026672363, -1.0843499898910522, 10.69882869720459], [3.8046648502349854, -1.0843499898910522, 10.522051811218262], [3.9814414978027344, -1.0843499898910522, 10.345274925231934], [4.197947978973389, -1.0843499898910522, 10.220274925231934], [4.447947978973389, -1.0843499898910522, 10.156285285949707], [4.697947978973389, -1.0843499898910522, 10.156285285949707], [4.93942928314209, -1.0843499898910522, 10.091580390930176], [5.180910587310791, -1.0843499898910522, 10.026875495910645], [5.422391891479492, -1.0843499898910522, 9.962170600891113], [5.663873195648193, -1.0843499898910522, 9.897465705871582], [5.9053544998168945, -1.0843499898910522, 9.83276081085205], [6.1553544998168945, -1.0843499898910522, 9.83276081085205], [6.4053544998168945, -1.0843499898910522, 9.83276081085205], [6.646835803985596, -1.0843499898910522, 9.76805591583252], [6.896835803985596, -1.0843499898910522, 9.76805591583252], [7.118052005767822, -1.0843499898910522, 9.63571834564209], [7.334558486938477, -1.0843499898910522, 9.51071834564209], [7.551064968109131, -1.0843499898910522, 9.38571834564209], [7.767571449279785, -1.0843499898910522, 9.26071834564209], [7.9840779304504395, -1.0843499898910522, 9.13571834564209], [8.200584411621094, -1.0843499898910522, 9.01071834564209], [8.377361297607422, -1.0843499898910522, 8.833941459655762], [8.502361297607422, -1.0843499898910522, 8.617435455322266], [8.567066192626953, -1.0843499898910522, 8.375953674316406], [8.631771087646484, -1.0843499898910522, 8.134471893310547], [8.696475982666016, -1.0843499898910522, 7.892990589141846], [8.821475982666016, -1.0843499898910522, 7.676484107971191], [8.886180877685547, -1.0843499898910522, 7.43500280380249], [8.950885772705078, -1.0843499898910522, 7.193521499633789], [9.01559066772461, -1.0843499898910522, 6.952040195465088], [9.08029556274414, -1.0843499898910522, 6.710558891296387]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 154, "episode_id": "155", "scene_id": "ULsKaCPVFJR", "instruction": "Exit the theater and take a right down the hallway. Continue past the large painting and take the next left into the bedroom. Stop when you get to the edge of the rug. ", "start_position": [4.424014091491699, 2.8835620880126953, 10.081165313720703], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [9.999670028686523, 2.8835620880126953, 12.339799880981445], "goal_radius": 3.0, "reference_path": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [6.0938801765441895, 2.8835620880126953, 10.250800132751465], [6.8142900466918945, 2.8835620880126953, 10.294599533081055], [7.753270149230957, 2.8835620880126953, 12.27560043334961], [9.999670028686523, 2.8835620880126953, 12.339799880981445]]", "geodesic_distance": 6.248558521270752, "gt_locations": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [4.674014091491699, 2.8835620880126953, 10.081165313720703], [4.924014091491699, 2.8835620880126953, 10.081165313720703], [5.174014091491699, 2.8835620880126953, 10.081165313720703], [5.4154953956604, 2.8835620880126953, 10.145870208740234], [5.656976699829102, 2.8835620880126953, 10.210575103759766], [5.906976699829102, 2.8835620880126953, 10.210575103759766], [6.156976699829102, 2.8835620880126953, 10.210575103759766], [6.406976699829102, 2.8835620880126953, 10.210575103759766], [6.58375358581543, 2.8835620880126953, 10.387351989746094], [6.760530471801758, 2.8835620880126953, 10.564128875732422], [6.977036952972412, 2.8835620880126953, 10.689128875732422], [7.15381383895874, 2.8835620880126953, 10.86590576171875], [7.27881383895874, 2.8835620880126953, 11.082411766052246], [7.40381383895874, 2.8835620880126953, 11.298917770385742], [7.4685187339782715, 2.8835620880126953, 11.540399551391602], [7.533223628997803, 2.8835620880126953, 11.781881332397461], [7.658223628997803, 2.8835620880126953, 11.998387336730957], [7.899704933166504, 2.8835620880126953, 12.063092231750488], [8.141186714172363, 2.8835620880126953, 12.12779712677002], [8.382668495178223, 2.8835620880126953, 12.19250202178955], [8.624150276184082, 2.8835620880126953, 12.257206916809082], [8.865632057189941, 2.8835620880126953, 12.321911811828613], [9.115632057189941, 2.8835620880126953, 12.321911811828613], [9.365632057189941, 2.8835620880126953, 12.321911811828613], [9.615632057189941, 2.8835620880126953, 12.321911811828613]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 155, "episode_id": "156", "scene_id": "ULsKaCPVFJR", "instruction": "Walk out of the home theater and turn right. Walk down the hall and turn left. walk into the bedroom and stop. ", "start_position": [4.424014091491699, 2.8835620880126953, 10.081165313720703], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [9.999670028686523, 2.8835620880126953, 12.339799880981445], "goal_radius": 3.0, "reference_path": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [6.0938801765441895, 2.8835620880126953, 10.250800132751465], [6.8142900466918945, 2.8835620880126953, 10.294599533081055], [7.753270149230957, 2.8835620880126953, 12.27560043334961], [9.999670028686523, 2.8835620880126953, 12.339799880981445]]", "geodesic_distance": 6.248558521270752, "gt_locations": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [4.674014091491699, 2.8835620880126953, 10.081165313720703], [4.924014091491699, 2.8835620880126953, 10.081165313720703], [5.174014091491699, 2.8835620880126953, 10.081165313720703], [5.4154953956604, 2.8835620880126953, 10.145870208740234], [5.656976699829102, 2.8835620880126953, 10.210575103759766], [5.906976699829102, 2.8835620880126953, 10.210575103759766], [6.156976699829102, 2.8835620880126953, 10.210575103759766], [6.406976699829102, 2.8835620880126953, 10.210575103759766], [6.58375358581543, 2.8835620880126953, 10.387351989746094], [6.760530471801758, 2.8835620880126953, 10.564128875732422], [6.977036952972412, 2.8835620880126953, 10.689128875732422], [7.15381383895874, 2.8835620880126953, 10.86590576171875], [7.27881383895874, 2.8835620880126953, 11.082411766052246], [7.40381383895874, 2.8835620880126953, 11.298917770385742], [7.4685187339782715, 2.8835620880126953, 11.540399551391602], [7.533223628997803, 2.8835620880126953, 11.781881332397461], [7.658223628997803, 2.8835620880126953, 11.998387336730957], [7.899704933166504, 2.8835620880126953, 12.063092231750488], [8.141186714172363, 2.8835620880126953, 12.12779712677002], [8.382668495178223, 2.8835620880126953, 12.19250202178955], [8.624150276184082, 2.8835620880126953, 12.257206916809082], [8.865632057189941, 2.8835620880126953, 12.321911811828613], [9.115632057189941, 2.8835620880126953, 12.321911811828613], [9.365632057189941, 2.8835620880126953, 12.321911811828613], [9.615632057189941, 2.8835620880126953, 12.321911811828613]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 156, "episode_id": "157", "scene_id": "ULsKaCPVFJR", "instruction": "Walk between the couch and the coffee table and out the door. Turn right and walk through the first door on the left. Wait near the bed. ", "start_position": [4.424014091491699, 2.8835620880126953, 10.081165313720703], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [9.999670028686523, 2.8835620880126953, 12.339799880981445], "goal_radius": 3.0, "reference_path": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [6.0938801765441895, 2.8835620880126953, 10.250800132751465], [6.8142900466918945, 2.8835620880126953, 10.294599533081055], [7.753270149230957, 2.8835620880126953, 12.27560043334961], [9.999670028686523, 2.8835620880126953, 12.339799880981445]]", "geodesic_distance": 6.248558521270752, "gt_locations": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [4.674014091491699, 2.8835620880126953, 10.081165313720703], [4.924014091491699, 2.8835620880126953, 10.081165313720703], [5.174014091491699, 2.8835620880126953, 10.081165313720703], [5.4154953956604, 2.8835620880126953, 10.145870208740234], [5.656976699829102, 2.8835620880126953, 10.210575103759766], [5.906976699829102, 2.8835620880126953, 10.210575103759766], [6.156976699829102, 2.8835620880126953, 10.210575103759766], [6.406976699829102, 2.8835620880126953, 10.210575103759766], [6.58375358581543, 2.8835620880126953, 10.387351989746094], [6.760530471801758, 2.8835620880126953, 10.564128875732422], [6.977036952972412, 2.8835620880126953, 10.689128875732422], [7.15381383895874, 2.8835620880126953, 10.86590576171875], [7.27881383895874, 2.8835620880126953, 11.082411766052246], [7.40381383895874, 2.8835620880126953, 11.298917770385742], [7.4685187339782715, 2.8835620880126953, 11.540399551391602], [7.533223628997803, 2.8835620880126953, 11.781881332397461], [7.658223628997803, 2.8835620880126953, 11.998387336730957], [7.899704933166504, 2.8835620880126953, 12.063092231750488], [8.141186714172363, 2.8835620880126953, 12.12779712677002], [8.382668495178223, 2.8835620880126953, 12.19250202178955], [8.624150276184082, 2.8835620880126953, 12.257206916809082], [8.865632057189941, 2.8835620880126953, 12.321911811828613], [9.115632057189941, 2.8835620880126953, 12.321911811828613], [9.365632057189941, 2.8835620880126953, 12.321911811828613], [9.615632057189941, 2.8835620880126953, 12.321911811828613]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 157, "episode_id": "158", "scene_id": "i5noydFURQK", "instruction": "Leave the dining room and walk towards the painting of the beach. Take a right at the painting and enter the bedroom. In the room take the first left into the closet. ", "start_position": [2.3468101024627686, 0.18682312965393066, 2.9964098930358887], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.1112699508666992, 0.18682312965393066, 8.7946195602417], "goal_radius": 3.0, "reference_path": "[[2.3468101024627686, 0.18682312965393066, 2.9964098930358887], [2.445770025253296, 0.18682312965393066, 4.285590171813965], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [0.28368398547172546, 0.18682312965393066, 8.244500160217285], [1.1112699508666992, 0.18682312965393066, 8.7946195602417]]", "geodesic_distance": 6.896536827087402, "gt_locations": "[[2.3468101024627686, 0.18682312965393066, 2.9964098930358887], [2.3468101024627686, 0.18682312965393066, 3.2464098930358887], [2.4115147590637207, 0.18682312965393066, 3.487891435623169], [2.4115147590637207, 0.18682312965393066, 3.737891435623169], [2.4115147590637207, 0.18682312965393066, 3.987891435623169], [2.4115147590637207, 0.18682312965393066, 4.23789119720459], [2.4115147590637207, 0.18682312965393066, 4.48789119720459], [2.476219415664673, 0.18682312965393066, 4.729372501373291], [2.540924072265625, 0.18682312965393066, 4.970853805541992], [2.540924072265625, 0.18682312965393066, 5.220853805541992], [2.540924072265625, 0.18682312965393066, 5.470853805541992], [2.540924072265625, 0.18682312965393066, 5.720853805541992], [2.540924072265625, 0.18682312965393066, 5.970853805541992], [2.540924072265625, 0.18682312965393066, 6.220853805541992], [2.540924072265625, 0.18682312965393066, 6.470853805541992], [2.540924072265625, 0.18682312965393066, 6.720853805541992], [2.2994425296783447, 0.18682312965393066, 6.785558700561523], [2.0579609870910645, 0.18682312965393066, 6.850263595581055], [1.8164794445037842, 0.18682312965393066, 6.914968490600586], [1.574997901916504, 0.18682312965393066, 6.979673385620117], [1.3584915399551392, 0.18682312965393066, 7.104673385620117], [1.1419851779937744, 0.18682312965393066, 7.229673385620117], [0.9254788756370544, 0.18682312965393066, 7.354673385620117], [0.7487021684646606, 0.18682312965393066, 7.531450271606445], [0.5321958065032959, 0.18682312965393066, 7.656450271606445], [0.4859609007835388, 0.18682312965393066, 7.9249444007873535], [0.6627376079559326, 0.18682312965393066, 8.131697654724121], [0.7274423837661743, 0.18682312965393066, 8.37317943572998], [0.9042191505432129, 0.18682312965393066, 8.549956321716309]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 2, 1, 3, 3, 1, 2, 2, 1, 0]"}
{"id": 158, "episode_id": "159", "scene_id": "i5noydFURQK", "instruction": "Exit room through barn style door and head straight down hallway towards the painting on the wall. Turn right into the bedroom. Take a hard left through the mirrored door. Turn slight left and wait by the white floor length shelves. ", "start_position": [2.3468101024627686, 0.18682312965393066, 2.9964098930358887], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.1112699508666992, 0.18682312965393066, 8.7946195602417], "goal_radius": 3.0, "reference_path": "[[2.3468101024627686, 0.18682312965393066, 2.9964098930358887], [2.445770025253296, 0.18682312965393066, 4.285590171813965], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [0.28368398547172546, 0.18682312965393066, 8.244500160217285], [1.1112699508666992, 0.18682312965393066, 8.7946195602417]]", "geodesic_distance": 6.896536827087402, "gt_locations": "[[2.3468101024627686, 0.18682312965393066, 2.9964098930358887], [2.3468101024627686, 0.18682312965393066, 3.2464098930358887], [2.4115147590637207, 0.18682312965393066, 3.487891435623169], [2.4115147590637207, 0.18682312965393066, 3.737891435623169], [2.4115147590637207, 0.18682312965393066, 3.987891435623169], [2.4115147590637207, 0.18682312965393066, 4.23789119720459], [2.4115147590637207, 0.18682312965393066, 4.48789119720459], [2.476219415664673, 0.18682312965393066, 4.729372501373291], [2.540924072265625, 0.18682312965393066, 4.970853805541992], [2.540924072265625, 0.18682312965393066, 5.220853805541992], [2.540924072265625, 0.18682312965393066, 5.470853805541992], [2.540924072265625, 0.18682312965393066, 5.720853805541992], [2.540924072265625, 0.18682312965393066, 5.970853805541992], [2.540924072265625, 0.18682312965393066, 6.220853805541992], [2.540924072265625, 0.18682312965393066, 6.470853805541992], [2.540924072265625, 0.18682312965393066, 6.720853805541992], [2.2994425296783447, 0.18682312965393066, 6.785558700561523], [2.0579609870910645, 0.18682312965393066, 6.850263595581055], [1.8164794445037842, 0.18682312965393066, 6.914968490600586], [1.574997901916504, 0.18682312965393066, 6.979673385620117], [1.3584915399551392, 0.18682312965393066, 7.104673385620117], [1.1419851779937744, 0.18682312965393066, 7.229673385620117], [0.9254788756370544, 0.18682312965393066, 7.354673385620117], [0.7487021684646606, 0.18682312965393066, 7.531450271606445], [0.5321958065032959, 0.18682312965393066, 7.656450271606445], [0.4859609007835388, 0.18682312965393066, 7.9249444007873535], [0.6627376079559326, 0.18682312965393066, 8.131697654724121], [0.7274423837661743, 0.18682312965393066, 8.37317943572998], [0.9042191505432129, 0.18682312965393066, 8.549956321716309]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 2, 1, 3, 3, 1, 2, 2, 1, 0]"}
{"id": 159, "episode_id": "160", "scene_id": "i5noydFURQK", "instruction": "Walk out of the room and through the hallway. Turn right at the end of the hall way and walk into the bedroom. Turn left into the closet. Stop in the closet. ", "start_position": [2.3468101024627686, 0.18682312965393066, 2.9964098930358887], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.1112699508666992, 0.18682312965393066, 8.7946195602417], "goal_radius": 3.0, "reference_path": "[[2.3468101024627686, 0.18682312965393066, 2.9964098930358887], [2.445770025253296, 0.18682312965393066, 4.285590171813965], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [0.28368398547172546, 0.18682312965393066, 8.244500160217285], [1.1112699508666992, 0.18682312965393066, 8.7946195602417]]", "geodesic_distance": 6.896536827087402, "gt_locations": "[[2.3468101024627686, 0.18682312965393066, 2.9964098930358887], [2.3468101024627686, 0.18682312965393066, 3.2464098930358887], [2.4115147590637207, 0.18682312965393066, 3.487891435623169], [2.4115147590637207, 0.18682312965393066, 3.737891435623169], [2.4115147590637207, 0.18682312965393066, 3.987891435623169], [2.4115147590637207, 0.18682312965393066, 4.23789119720459], [2.4115147590637207, 0.18682312965393066, 4.48789119720459], [2.476219415664673, 0.18682312965393066, 4.729372501373291], [2.540924072265625, 0.18682312965393066, 4.970853805541992], [2.540924072265625, 0.18682312965393066, 5.220853805541992], [2.540924072265625, 0.18682312965393066, 5.470853805541992], [2.540924072265625, 0.18682312965393066, 5.720853805541992], [2.540924072265625, 0.18682312965393066, 5.970853805541992], [2.540924072265625, 0.18682312965393066, 6.220853805541992], [2.540924072265625, 0.18682312965393066, 6.470853805541992], [2.540924072265625, 0.18682312965393066, 6.720853805541992], [2.2994425296783447, 0.18682312965393066, 6.785558700561523], [2.0579609870910645, 0.18682312965393066, 6.850263595581055], [1.8164794445037842, 0.18682312965393066, 6.914968490600586], [1.574997901916504, 0.18682312965393066, 6.979673385620117], [1.3584915399551392, 0.18682312965393066, 7.104673385620117], [1.1419851779937744, 0.18682312965393066, 7.229673385620117], [0.9254788756370544, 0.18682312965393066, 7.354673385620117], [0.7487021684646606, 0.18682312965393066, 7.531450271606445], [0.5321958065032959, 0.18682312965393066, 7.656450271606445], [0.4859609007835388, 0.18682312965393066, 7.9249444007873535], [0.6627376079559326, 0.18682312965393066, 8.131697654724121], [0.7274423837661743, 0.18682312965393066, 8.37317943572998], [0.9042191505432129, 0.18682312965393066, 8.549956321716309]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 2, 1, 3, 3, 1, 2, 2, 1, 0]"}
{"id": 160, "episode_id": "161", "scene_id": "gTV8FGcVJC9", "instruction": "Walk forward away from the table and into the small hallway. In the hall go straight and enter the room ahead. In the room go into the hallway with the closet and the bathroom and stop outside the bathroom door. ", "start_position": [-6.980030059814453, 7.456643581390381, 10.332599639892578], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-14.479900360107422, 7.256642818450928, 17.738300323486328], "goal_radius": 3.0, "reference_path": "[[-6.980030059814453, 7.456643581390381, 10.332599639892578], [-9.752679824829102, 7.456643581390381, 10.644599914550781], [-11.874699592590332, 7.315462589263916, 11.477399826049805], [-15.012800216674805, 7.256642818450928, 11.904999732971191], [-14.667499542236328, 7.256642818450928, 14.491299629211426], [-14.45460033416748, 7.256642818450928, 16.463499069213867], [-14.479900360107422, 7.256642818450928, 17.738300323486328]]", "geodesic_distance": 13.54056167602539, "gt_locations": "[[-6.980030059814453, 7.456643581390381, 10.332599639892578], [-7.230030059814453, 7.456643581390381, 10.332599639892578], [-7.480030059814453, 7.456643581390381, 10.332599639892578], [-7.730030059814453, 7.456643581390381, 10.332599639892578], [-7.980030059814453, 7.456643581390381, 10.332599639892578], [-8.230030059814453, 7.456643581390381, 10.332599639892578], [-8.471511840820312, 7.456643581390381, 10.39730453491211], [-8.712993621826172, 7.456643581390381, 10.46200942993164], [-8.962993621826172, 7.456643581390381, 10.46200942993164], [-9.204475402832031, 7.456643581390381, 10.526714324951172], [-9.454475402832031, 7.456643581390381, 10.526714324951172], [-9.69595718383789, 7.456643581390381, 10.591419219970703], [-9.93743896484375, 7.456643581390381, 10.656124114990234], [-10.17892074584961, 7.456643581390381, 10.720829010009766], [-10.420402526855469, 7.456643581390381, 10.785533905029297], [-10.636908531188965, 7.456643581390381, 10.910533905029297], [-10.853414535522461, 7.456643581390381, 11.035533905029297], [-11.069920539855957, 7.394999980926514, 11.160533905029297], [-11.286426544189453, 7.351902484893799, 11.285533905029297], [-11.527908325195312, 7.345047473907471, 11.350238800048828], [-11.777908325195312, 7.3175048828125, 11.350238800048828], [-12.019390106201172, 7.286513805389404, 11.285533905029297], [-12.260871887207031, 7.256642818450928, 11.220829010009766], [-12.50235366821289, 7.256642818450928, 11.156124114990234], [-12.752025604248047, 7.353717803955078, 11.153169631958008], [-12.998976707458496, 7.256642818450928, 11.125731468200684], [-13.253503799438477, 7.256642818450928, 11.23889446258545], [-13.494985580444336, 7.407854080200195, 11.30359935760498], [-13.736467361450195, 7.417621612548828, 11.368304252624512], [-13.977949142456055, 7.31233024597168, 11.433009147644043], [-14.219430923461914, 7.256642818450928, 11.497714042663574], [-14.43593692779541, 7.256642818450928, 11.622714042663574], [-14.652442932128906, 7.256642818450928, 11.747714042663574], [-14.717147827148438, 7.256642818450928, 11.989195823669434], [-14.717147827148438, 7.256642818450928, 12.239195823669434], [-14.717147827148438, 7.256642818450928, 12.489195823669434], [-14.712821006774902, 7.256642818450928, 12.766904830932617], [-14.712821006774902, 7.256642818450928, 13.016904830932617], [-14.712821006774902, 7.256642818450928, 13.266904830932617], [-14.712821006774902, 7.256642818450928, 13.516904830932617], [-14.712821006774902, 7.256642818450928, 13.766904830932617], [-14.712821006774902, 7.256642818450928, 14.016904830932617], [-14.712821006774902, 7.256642818450928, 14.266904830932617], [-14.712821006774902, 7.256642818450928, 14.516904830932617], [-14.712821006774902, 7.256642818450928, 14.766904830932617], [-14.712821006774902, 7.256642818450928, 15.016904830932617], [-14.648116111755371, 7.256642818450928, 15.258386611938477], [-14.58341121673584, 7.256642818450928, 15.499868392944336], [-14.518706321716309, 7.256642818450928, 15.741350173950195], [-14.518706321716309, 7.256642818450928, 15.991350173950195], [-14.518706321716309, 7.256642818450928, 16.241350173950195], [-14.518706321716309, 7.256642818450928, 16.491350173950195], [-14.518706321716309, 7.256642818450928, 16.741350173950195], [-14.518706321716309, 7.256642818450928, 16.991350173950195], [-14.518706321716309, 7.256642818450928, 17.241350173950195]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 3, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 2, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 161, "episode_id": "162", "scene_id": "gTV8FGcVJC9", "instruction": "Walk through the hallway into the bedroom. Walk around the bed and out the door. Stop in front of the doorway to the bathroom. ", "start_position": [-6.980030059814453, 7.456643581390381, 10.332599639892578], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-14.479900360107422, 7.256642818450928, 17.738300323486328], "goal_radius": 3.0, "reference_path": "[[-6.980030059814453, 7.456643581390381, 10.332599639892578], [-9.752679824829102, 7.456643581390381, 10.644599914550781], [-11.874699592590332, 7.315462589263916, 11.477399826049805], [-15.012800216674805, 7.256642818450928, 11.904999732971191], [-14.667499542236328, 7.256642818450928, 14.491299629211426], [-14.45460033416748, 7.256642818450928, 16.463499069213867], [-14.479900360107422, 7.256642818450928, 17.738300323486328]]", "geodesic_distance": 13.54056167602539, "gt_locations": "[[-6.980030059814453, 7.456643581390381, 10.332599639892578], [-7.230030059814453, 7.456643581390381, 10.332599639892578], [-7.480030059814453, 7.456643581390381, 10.332599639892578], [-7.730030059814453, 7.456643581390381, 10.332599639892578], [-7.980030059814453, 7.456643581390381, 10.332599639892578], [-8.230030059814453, 7.456643581390381, 10.332599639892578], [-8.471511840820312, 7.456643581390381, 10.39730453491211], [-8.712993621826172, 7.456643581390381, 10.46200942993164], [-8.962993621826172, 7.456643581390381, 10.46200942993164], [-9.204475402832031, 7.456643581390381, 10.526714324951172], [-9.454475402832031, 7.456643581390381, 10.526714324951172], [-9.69595718383789, 7.456643581390381, 10.591419219970703], [-9.93743896484375, 7.456643581390381, 10.656124114990234], [-10.17892074584961, 7.456643581390381, 10.720829010009766], [-10.420402526855469, 7.456643581390381, 10.785533905029297], [-10.636908531188965, 7.456643581390381, 10.910533905029297], [-10.853414535522461, 7.456643581390381, 11.035533905029297], [-11.069920539855957, 7.394999980926514, 11.160533905029297], [-11.286426544189453, 7.351902484893799, 11.285533905029297], [-11.527908325195312, 7.345047473907471, 11.350238800048828], [-11.777908325195312, 7.3175048828125, 11.350238800048828], [-12.019390106201172, 7.286513805389404, 11.285533905029297], [-12.260871887207031, 7.256642818450928, 11.220829010009766], [-12.50235366821289, 7.256642818450928, 11.156124114990234], [-12.752025604248047, 7.353717803955078, 11.153169631958008], [-12.998976707458496, 7.256642818450928, 11.125731468200684], [-13.253503799438477, 7.256642818450928, 11.23889446258545], [-13.494985580444336, 7.407854080200195, 11.30359935760498], [-13.736467361450195, 7.417621612548828, 11.368304252624512], [-13.977949142456055, 7.31233024597168, 11.433009147644043], [-14.219430923461914, 7.256642818450928, 11.497714042663574], [-14.43593692779541, 7.256642818450928, 11.622714042663574], [-14.652442932128906, 7.256642818450928, 11.747714042663574], [-14.717147827148438, 7.256642818450928, 11.989195823669434], [-14.717147827148438, 7.256642818450928, 12.239195823669434], [-14.717147827148438, 7.256642818450928, 12.489195823669434], [-14.712821006774902, 7.256642818450928, 12.766904830932617], [-14.712821006774902, 7.256642818450928, 13.016904830932617], [-14.712821006774902, 7.256642818450928, 13.266904830932617], [-14.712821006774902, 7.256642818450928, 13.516904830932617], [-14.712821006774902, 7.256642818450928, 13.766904830932617], [-14.712821006774902, 7.256642818450928, 14.016904830932617], [-14.712821006774902, 7.256642818450928, 14.266904830932617], [-14.712821006774902, 7.256642818450928, 14.516904830932617], [-14.712821006774902, 7.256642818450928, 14.766904830932617], [-14.712821006774902, 7.256642818450928, 15.016904830932617], [-14.648116111755371, 7.256642818450928, 15.258386611938477], [-14.58341121673584, 7.256642818450928, 15.499868392944336], [-14.518706321716309, 7.256642818450928, 15.741350173950195], [-14.518706321716309, 7.256642818450928, 15.991350173950195], [-14.518706321716309, 7.256642818450928, 16.241350173950195], [-14.518706321716309, 7.256642818450928, 16.491350173950195], [-14.518706321716309, 7.256642818450928, 16.741350173950195], [-14.518706321716309, 7.256642818450928, 16.991350173950195], [-14.518706321716309, 7.256642818450928, 17.241350173950195]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 3, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 2, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 162, "episode_id": "163", "scene_id": "gTV8FGcVJC9", "instruction": "Turn around and walk towards the bedroom. Enter the bedroom and walk around the bed. Walk out of the bedroom and continue walking through the hallway. Stop in front of the bathroom door. ", "start_position": [-6.980030059814453, 7.456643581390381, 10.332599639892578], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-14.479900360107422, 7.256642818450928, 17.738300323486328], "goal_radius": 3.0, "reference_path": "[[-6.980030059814453, 7.456643581390381, 10.332599639892578], [-9.752679824829102, 7.456643581390381, 10.644599914550781], [-11.874699592590332, 7.315462589263916, 11.477399826049805], [-15.012800216674805, 7.256642818450928, 11.904999732971191], [-14.667499542236328, 7.256642818450928, 14.491299629211426], [-14.45460033416748, 7.256642818450928, 16.463499069213867], [-14.479900360107422, 7.256642818450928, 17.738300323486328]]", "geodesic_distance": 13.54056167602539, "gt_locations": "[[-6.980030059814453, 7.456643581390381, 10.332599639892578], [-7.230030059814453, 7.456643581390381, 10.332599639892578], [-7.480030059814453, 7.456643581390381, 10.332599639892578], [-7.730030059814453, 7.456643581390381, 10.332599639892578], [-7.980030059814453, 7.456643581390381, 10.332599639892578], [-8.230030059814453, 7.456643581390381, 10.332599639892578], [-8.471511840820312, 7.456643581390381, 10.39730453491211], [-8.712993621826172, 7.456643581390381, 10.46200942993164], [-8.962993621826172, 7.456643581390381, 10.46200942993164], [-9.204475402832031, 7.456643581390381, 10.526714324951172], [-9.454475402832031, 7.456643581390381, 10.526714324951172], [-9.69595718383789, 7.456643581390381, 10.591419219970703], [-9.93743896484375, 7.456643581390381, 10.656124114990234], [-10.17892074584961, 7.456643581390381, 10.720829010009766], [-10.420402526855469, 7.456643581390381, 10.785533905029297], [-10.636908531188965, 7.456643581390381, 10.910533905029297], [-10.853414535522461, 7.456643581390381, 11.035533905029297], [-11.069920539855957, 7.394999980926514, 11.160533905029297], [-11.286426544189453, 7.351902484893799, 11.285533905029297], [-11.527908325195312, 7.345047473907471, 11.350238800048828], [-11.777908325195312, 7.3175048828125, 11.350238800048828], [-12.019390106201172, 7.286513805389404, 11.285533905029297], [-12.260871887207031, 7.256642818450928, 11.220829010009766], [-12.50235366821289, 7.256642818450928, 11.156124114990234], [-12.752025604248047, 7.353717803955078, 11.153169631958008], [-12.998976707458496, 7.256642818450928, 11.125731468200684], [-13.253503799438477, 7.256642818450928, 11.23889446258545], [-13.494985580444336, 7.407854080200195, 11.30359935760498], [-13.736467361450195, 7.417621612548828, 11.368304252624512], [-13.977949142456055, 7.31233024597168, 11.433009147644043], [-14.219430923461914, 7.256642818450928, 11.497714042663574], [-14.43593692779541, 7.256642818450928, 11.622714042663574], [-14.652442932128906, 7.256642818450928, 11.747714042663574], [-14.717147827148438, 7.256642818450928, 11.989195823669434], [-14.717147827148438, 7.256642818450928, 12.239195823669434], [-14.717147827148438, 7.256642818450928, 12.489195823669434], [-14.712821006774902, 7.256642818450928, 12.766904830932617], [-14.712821006774902, 7.256642818450928, 13.016904830932617], [-14.712821006774902, 7.256642818450928, 13.266904830932617], [-14.712821006774902, 7.256642818450928, 13.516904830932617], [-14.712821006774902, 7.256642818450928, 13.766904830932617], [-14.712821006774902, 7.256642818450928, 14.016904830932617], [-14.712821006774902, 7.256642818450928, 14.266904830932617], [-14.712821006774902, 7.256642818450928, 14.516904830932617], [-14.712821006774902, 7.256642818450928, 14.766904830932617], [-14.712821006774902, 7.256642818450928, 15.016904830932617], [-14.648116111755371, 7.256642818450928, 15.258386611938477], [-14.58341121673584, 7.256642818450928, 15.499868392944336], [-14.518706321716309, 7.256642818450928, 15.741350173950195], [-14.518706321716309, 7.256642818450928, 15.991350173950195], [-14.518706321716309, 7.256642818450928, 16.241350173950195], [-14.518706321716309, 7.256642818450928, 16.491350173950195], [-14.518706321716309, 7.256642818450928, 16.741350173950195], [-14.518706321716309, 7.256642818450928, 16.991350173950195], [-14.518706321716309, 7.256642818450928, 17.241350173950195]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 3, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 2, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 163, "episode_id": "164", "scene_id": "jh4fc5c5qoQ", "instruction": "Walk forward through the kitchen, heading to the black door. Walk out of the door and take a right onto the deck. Walk out on to the deck and stop. ", "start_position": [11.826700210571289, 0.005573004484176636, -4.506340026855469], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [9.334070205688477, 0.010303772985935211, 2.853209972381592], "goal_radius": 3.0, "reference_path": "[[11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.731300354003906, 0.005573004484176636, -2.8359999656677246], [11.855899810791016, 0.13183410465717316, -0.8568959832191467], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592]]", "geodesic_distance": 8.800824165344238, "gt_locations": "[[11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.826700210571289, 0.005573004484176636, -4.256340026855469], [11.826700210571289, 0.005573004484176636, -4.006340026855469], [11.826700210571289, 0.005573004484176636, -3.7563400268554688], [11.826700210571289, 0.005573004484176636, -3.5063400268554688], [11.826700210571289, 0.005573004484176636, -3.2563400268554688], [11.826700210571289, 0.005573004484176636, -3.0063400268554688], [11.826700210571289, 0.005573004484176636, -2.7563400268554688], [11.826700210571289, 0.005573004484176636, -2.5063400268554688], [11.826700210571289, 0.050592631101608276, -2.2563400268554688], [11.826700210571289, 0.09668484330177307, -2.0063400268554688], [11.826700210571289, 0.13939563930034637, -1.7563400268554688], [11.826700210571289, 0.1679670512676239, -1.5063400268554688], [11.826700210571289, 0.19653849303722382, -1.2563400268554688], [11.826700210571289, 0.1529608964920044, -1.0063400268554688], [11.826700210571289, 0.13670070469379425, -0.7563400268554688], [11.826700210571289, 0.13670070469379425, -0.5063400268554688], [11.826700210571289, 0.13670070469379425, -0.25634002685546875], [11.826700210571289, 0.13670070469379425, -0.00634002685546875], [11.826700210571289, 0.13884977996349335, 0.24365997314453125], [11.826700210571289, 0.1544560045003891, 0.49365997314453125], [11.826700210571289, 0.17006225883960724, 0.7436599731445312], [11.826700210571289, 0.185668483376503, 0.9936599731445312], [11.826700210571289, 0.20127472281455994, 1.2436599731445312], [11.826700210571289, 0.20557300746440887, 1.4936599731445312], [11.701700210571289, 0.20557300746440887, 1.710166335105896], [11.524923324584961, 0.20557300746440887, 1.886942982673645], [11.348146438598633, 0.20557300746440887, 2.0637197494506836], [11.171369552612305, 0.16414719820022583, 2.2404963970184326], [10.954863548278809, 0.10102549195289612, 2.3654963970184326], [10.738357543945312, 0.037903785705566406, 2.4904963970184326], [10.521851539611816, 0.005573004484176636, 2.6154963970184326], [10.280369758605957, 0.005573004484176636, 2.680201292037964], [10.038887977600098, 0.08868612349033356, 2.744906187057495], [9.797406196594238, 0.06362760812044144, 2.8096110820770264]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 164, "episode_id": "165", "scene_id": "jh4fc5c5qoQ", "instruction": "Go through the kitchen and out the door. Go down the stair and make a right. Step through the open doorway and stop. ", "start_position": [11.826700210571289, 0.005573004484176636, -4.506340026855469], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [9.334070205688477, 0.010303772985935211, 2.853209972381592], "goal_radius": 3.0, "reference_path": "[[11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.731300354003906, 0.005573004484176636, -2.8359999656677246], [11.855899810791016, 0.13183410465717316, -0.8568959832191467], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592]]", "geodesic_distance": 8.800824165344238, "gt_locations": "[[11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.826700210571289, 0.005573004484176636, -4.256340026855469], [11.826700210571289, 0.005573004484176636, -4.006340026855469], [11.826700210571289, 0.005573004484176636, -3.7563400268554688], [11.826700210571289, 0.005573004484176636, -3.5063400268554688], [11.826700210571289, 0.005573004484176636, -3.2563400268554688], [11.826700210571289, 0.005573004484176636, -3.0063400268554688], [11.826700210571289, 0.005573004484176636, -2.7563400268554688], [11.826700210571289, 0.005573004484176636, -2.5063400268554688], [11.826700210571289, 0.050592631101608276, -2.2563400268554688], [11.826700210571289, 0.09668484330177307, -2.0063400268554688], [11.826700210571289, 0.13939563930034637, -1.7563400268554688], [11.826700210571289, 0.1679670512676239, -1.5063400268554688], [11.826700210571289, 0.19653849303722382, -1.2563400268554688], [11.826700210571289, 0.1529608964920044, -1.0063400268554688], [11.826700210571289, 0.13670070469379425, -0.7563400268554688], [11.826700210571289, 0.13670070469379425, -0.5063400268554688], [11.826700210571289, 0.13670070469379425, -0.25634002685546875], [11.826700210571289, 0.13670070469379425, -0.00634002685546875], [11.826700210571289, 0.13884977996349335, 0.24365997314453125], [11.826700210571289, 0.1544560045003891, 0.49365997314453125], [11.826700210571289, 0.17006225883960724, 0.7436599731445312], [11.826700210571289, 0.185668483376503, 0.9936599731445312], [11.826700210571289, 0.20127472281455994, 1.2436599731445312], [11.826700210571289, 0.20557300746440887, 1.4936599731445312], [11.701700210571289, 0.20557300746440887, 1.710166335105896], [11.524923324584961, 0.20557300746440887, 1.886942982673645], [11.348146438598633, 0.20557300746440887, 2.0637197494506836], [11.171369552612305, 0.16414719820022583, 2.2404963970184326], [10.954863548278809, 0.10102549195289612, 2.3654963970184326], [10.738357543945312, 0.037903785705566406, 2.4904963970184326], [10.521851539611816, 0.005573004484176636, 2.6154963970184326], [10.280369758605957, 0.005573004484176636, 2.680201292037964], [10.038887977600098, 0.08868612349033356, 2.744906187057495], [9.797406196594238, 0.06362760812044144, 2.8096110820770264]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 165, "episode_id": "166", "scene_id": "jh4fc5c5qoQ", "instruction": "Turn around walking across the kitchen area. Exit the kitchen area via the black door. Turn right and walk across the second doorway and wait there outside. ", "start_position": [11.826700210571289, 0.005573004484176636, -4.506340026855469], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [9.334070205688477, 0.010303772985935211, 2.853209972381592], "goal_radius": 3.0, "reference_path": "[[11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.731300354003906, 0.005573004484176636, -2.8359999656677246], [11.855899810791016, 0.13183410465717316, -0.8568959832191467], [11.893099784851074, 0.1471835970878601, 0.4742070138454437], [11.724499702453613, 0.20557300746440887, 1.9464099407196045], [10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592]]", "geodesic_distance": 8.800824165344238, "gt_locations": "[[11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.826700210571289, 0.005573004484176636, -4.256340026855469], [11.826700210571289, 0.005573004484176636, -4.006340026855469], [11.826700210571289, 0.005573004484176636, -3.7563400268554688], [11.826700210571289, 0.005573004484176636, -3.5063400268554688], [11.826700210571289, 0.005573004484176636, -3.2563400268554688], [11.826700210571289, 0.005573004484176636, -3.0063400268554688], [11.826700210571289, 0.005573004484176636, -2.7563400268554688], [11.826700210571289, 0.005573004484176636, -2.5063400268554688], [11.826700210571289, 0.050592631101608276, -2.2563400268554688], [11.826700210571289, 0.09668484330177307, -2.0063400268554688], [11.826700210571289, 0.13939563930034637, -1.7563400268554688], [11.826700210571289, 0.1679670512676239, -1.5063400268554688], [11.826700210571289, 0.19653849303722382, -1.2563400268554688], [11.826700210571289, 0.1529608964920044, -1.0063400268554688], [11.826700210571289, 0.13670070469379425, -0.7563400268554688], [11.826700210571289, 0.13670070469379425, -0.5063400268554688], [11.826700210571289, 0.13670070469379425, -0.25634002685546875], [11.826700210571289, 0.13670070469379425, -0.00634002685546875], [11.826700210571289, 0.13884977996349335, 0.24365997314453125], [11.826700210571289, 0.1544560045003891, 0.49365997314453125], [11.826700210571289, 0.17006225883960724, 0.7436599731445312], [11.826700210571289, 0.185668483376503, 0.9936599731445312], [11.826700210571289, 0.20127472281455994, 1.2436599731445312], [11.826700210571289, 0.20557300746440887, 1.4936599731445312], [11.701700210571289, 0.20557300746440887, 1.710166335105896], [11.524923324584961, 0.20557300746440887, 1.886942982673645], [11.348146438598633, 0.20557300746440887, 2.0637197494506836], [11.171369552612305, 0.16414719820022583, 2.2404963970184326], [10.954863548278809, 0.10102549195289612, 2.3654963970184326], [10.738357543945312, 0.037903785705566406, 2.4904963970184326], [10.521851539611816, 0.005573004484176636, 2.6154963970184326], [10.280369758605957, 0.005573004484176636, 2.680201292037964], [10.038887977600098, 0.08868612349033356, 2.744906187057495], [9.797406196594238, 0.06362760812044144, 2.8096110820770264]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 166, "episode_id": "167", "scene_id": "8WUmhLawc2A", "instruction": "exit the kitchen and go right. At the end of the hall turn right and go into the bedroom and wait there next to the guitar. ", "start_position": [-5.419740200042725, 0.10065700113773346, -6.886569976806641], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-6.35584020614624, 0.10065700113773346, 1.7286900281906128], "goal_radius": 3.0, "reference_path": "[[-5.419740200042725, 0.10065700113773346, -6.886569976806641], [-4.521639823913574, 0.10065700113773346, -5.849969863891602], [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.54449987411499, 0.10065700113773346, -2.2257299423217773], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-5.148190021514893, 0.10065700113773346, 1.5795199871063232], [-6.35584020614624, 0.10065700113773346, 1.7286900281906128]]", "geodesic_distance": 9.814205169677734, "gt_locations": "[[-5.419740200042725, 0.10065700113773346, -6.886569976806641], [-5.2429633140563965, 0.10065700113773346, -6.7097930908203125], [-5.066186428070068, 0.10065700113773346, -6.533016204833984], [-4.894315719604492, 0.10065700113773346, -6.348106861114502], [-4.769315719604492, 0.10065700113773346, -6.131600379943848], [-4.769315719604492, 0.10065700113773346, -5.881600379943848], [-4.769315719604492, 0.10065700113773346, -5.631600379943848], [-4.769315719604492, 0.10065700113773346, -5.381600379943848], [-4.769315719604492, 0.10065700113773346, -5.131600379943848], [-4.769315719604492, 0.10065700113773346, -4.881600379943848], [-4.769315719604492, 0.10065700113773346, -4.631600379943848], [-4.704610824584961, 0.10065700113773346, -4.3901190757751465], [-4.63990592956543, 0.10065700113773346, -4.148637771606445], [-4.575201034545898, 0.10065700113773346, -3.907156229019165], [-4.575201034545898, 0.10065700113773346, -3.657156229019165], [-4.575201034545898, 0.10065700113773346, -3.407156229019165], [-4.575201034545898, 0.10065700113773346, -3.157156229019165], [-4.575201034545898, 0.10065700113773346, -2.907156229019165], [-4.575201034545898, 0.10065700113773346, -2.657156229019165], [-4.575201034545898, 0.10065700113773346, -2.407156229019165], [-4.575201034545898, 0.10065700113773346, -2.157156229019165], [-4.575201034545898, 0.10065700113773346, -1.907156229019165], [-4.575201034545898, 0.10065700113773346, -1.657156229019165], [-4.575201034545898, 0.10065700113773346, -1.407156229019165], [-4.575201034545898, 0.10065700113773346, -1.157156229019165], [-4.575201034545898, 0.10065700113773346, -0.907156229019165], [-4.510496139526367, 0.10065700113773346, -0.6656747460365295], [-4.575201034545898, 0.10065700113773346, -0.42419326305389404], [-4.63990592956543, 0.10065700113773346, -0.18271178007125854], [-4.63990592956543, 0.10065700113773346, 0.06728821992874146], [-4.63990592956543, 0.10065700113773346, 0.31728821992874146], [-4.704610824584961, 0.10065700113773346, 0.558769702911377], [-4.769315719604492, 0.10065700113773346, 0.8002511858940125], [-4.894315719604492, 0.10065700113773346, 1.016757607460022], [-4.959020614624023, 0.10065700113773346, 1.2582391500473022], [-5.200501918792725, 0.10065700113773346, 1.322943925857544], [-5.441983222961426, 0.10065700113773346, 1.3876488208770752], [-5.683464527130127, 0.10065700113773346, 1.4523537158966064], [-5.899971008300781, 0.10065700113773346, 1.5773537158966064]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 0]"}
{"id": 167, "episode_id": "168", "scene_id": "8WUmhLawc2A", "instruction": "Walk out of the kitchen and take a let down the hallway. Walk to the end of the hallway and take a right into the bedroom there. Stop once you enter the bedroom and stand next to the door. ", "start_position": [-5.419740200042725, 0.10065700113773346, -6.886569976806641], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-6.35584020614624, 0.10065700113773346, 1.7286900281906128], "goal_radius": 3.0, "reference_path": "[[-5.419740200042725, 0.10065700113773346, -6.886569976806641], [-4.521639823913574, 0.10065700113773346, -5.849969863891602], [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.54449987411499, 0.10065700113773346, -2.2257299423217773], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-5.148190021514893, 0.10065700113773346, 1.5795199871063232], [-6.35584020614624, 0.10065700113773346, 1.7286900281906128]]", "geodesic_distance": 9.814205169677734, "gt_locations": "[[-5.419740200042725, 0.10065700113773346, -6.886569976806641], [-5.2429633140563965, 0.10065700113773346, -6.7097930908203125], [-5.066186428070068, 0.10065700113773346, -6.533016204833984], [-4.894315719604492, 0.10065700113773346, -6.348106861114502], [-4.769315719604492, 0.10065700113773346, -6.131600379943848], [-4.769315719604492, 0.10065700113773346, -5.881600379943848], [-4.769315719604492, 0.10065700113773346, -5.631600379943848], [-4.769315719604492, 0.10065700113773346, -5.381600379943848], [-4.769315719604492, 0.10065700113773346, -5.131600379943848], [-4.769315719604492, 0.10065700113773346, -4.881600379943848], [-4.769315719604492, 0.10065700113773346, -4.631600379943848], [-4.704610824584961, 0.10065700113773346, -4.3901190757751465], [-4.63990592956543, 0.10065700113773346, -4.148637771606445], [-4.575201034545898, 0.10065700113773346, -3.907156229019165], [-4.575201034545898, 0.10065700113773346, -3.657156229019165], [-4.575201034545898, 0.10065700113773346, -3.407156229019165], [-4.575201034545898, 0.10065700113773346, -3.157156229019165], [-4.575201034545898, 0.10065700113773346, -2.907156229019165], [-4.575201034545898, 0.10065700113773346, -2.657156229019165], [-4.575201034545898, 0.10065700113773346, -2.407156229019165], [-4.575201034545898, 0.10065700113773346, -2.157156229019165], [-4.575201034545898, 0.10065700113773346, -1.907156229019165], [-4.575201034545898, 0.10065700113773346, -1.657156229019165], [-4.575201034545898, 0.10065700113773346, -1.407156229019165], [-4.575201034545898, 0.10065700113773346, -1.157156229019165], [-4.575201034545898, 0.10065700113773346, -0.907156229019165], [-4.510496139526367, 0.10065700113773346, -0.6656747460365295], [-4.575201034545898, 0.10065700113773346, -0.42419326305389404], [-4.63990592956543, 0.10065700113773346, -0.18271178007125854], [-4.63990592956543, 0.10065700113773346, 0.06728821992874146], [-4.63990592956543, 0.10065700113773346, 0.31728821992874146], [-4.704610824584961, 0.10065700113773346, 0.558769702911377], [-4.769315719604492, 0.10065700113773346, 0.8002511858940125], [-4.894315719604492, 0.10065700113773346, 1.016757607460022], [-4.959020614624023, 0.10065700113773346, 1.2582391500473022], [-5.200501918792725, 0.10065700113773346, 1.322943925857544], [-5.441983222961426, 0.10065700113773346, 1.3876488208770752], [-5.683464527130127, 0.10065700113773346, 1.4523537158966064], [-5.899971008300781, 0.10065700113773346, 1.5773537158966064]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 0]"}
{"id": 168, "episode_id": "169", "scene_id": "8WUmhLawc2A", "instruction": "To turn right and go straight.Then take left enter into the bed room..near books on the self. ", "start_position": [-5.419740200042725, 0.10065700113773346, -6.886569976806641], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-6.35584020614624, 0.10065700113773346, 1.7286900281906128], "goal_radius": 3.0, "reference_path": "[[-5.419740200042725, 0.10065700113773346, -6.886569976806641], [-4.521639823913574, 0.10065700113773346, -5.849969863891602], [-4.561930179595947, 0.10065700113773346, -3.5072898864746094], [-4.54449987411499, 0.10065700113773346, -2.2257299423217773], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-5.148190021514893, 0.10065700113773346, 1.5795199871063232], [-6.35584020614624, 0.10065700113773346, 1.7286900281906128]]", "geodesic_distance": 9.814205169677734, "gt_locations": "[[-5.419740200042725, 0.10065700113773346, -6.886569976806641], [-5.2429633140563965, 0.10065700113773346, -6.7097930908203125], [-5.066186428070068, 0.10065700113773346, -6.533016204833984], [-4.894315719604492, 0.10065700113773346, -6.348106861114502], [-4.769315719604492, 0.10065700113773346, -6.131600379943848], [-4.769315719604492, 0.10065700113773346, -5.881600379943848], [-4.769315719604492, 0.10065700113773346, -5.631600379943848], [-4.769315719604492, 0.10065700113773346, -5.381600379943848], [-4.769315719604492, 0.10065700113773346, -5.131600379943848], [-4.769315719604492, 0.10065700113773346, -4.881600379943848], [-4.769315719604492, 0.10065700113773346, -4.631600379943848], [-4.704610824584961, 0.10065700113773346, -4.3901190757751465], [-4.63990592956543, 0.10065700113773346, -4.148637771606445], [-4.575201034545898, 0.10065700113773346, -3.907156229019165], [-4.575201034545898, 0.10065700113773346, -3.657156229019165], [-4.575201034545898, 0.10065700113773346, -3.407156229019165], [-4.575201034545898, 0.10065700113773346, -3.157156229019165], [-4.575201034545898, 0.10065700113773346, -2.907156229019165], [-4.575201034545898, 0.10065700113773346, -2.657156229019165], [-4.575201034545898, 0.10065700113773346, -2.407156229019165], [-4.575201034545898, 0.10065700113773346, -2.157156229019165], [-4.575201034545898, 0.10065700113773346, -1.907156229019165], [-4.575201034545898, 0.10065700113773346, -1.657156229019165], [-4.575201034545898, 0.10065700113773346, -1.407156229019165], [-4.575201034545898, 0.10065700113773346, -1.157156229019165], [-4.575201034545898, 0.10065700113773346, -0.907156229019165], [-4.510496139526367, 0.10065700113773346, -0.6656747460365295], [-4.575201034545898, 0.10065700113773346, -0.42419326305389404], [-4.63990592956543, 0.10065700113773346, -0.18271178007125854], [-4.63990592956543, 0.10065700113773346, 0.06728821992874146], [-4.63990592956543, 0.10065700113773346, 0.31728821992874146], [-4.704610824584961, 0.10065700113773346, 0.558769702911377], [-4.769315719604492, 0.10065700113773346, 0.8002511858940125], [-4.894315719604492, 0.10065700113773346, 1.016757607460022], [-4.959020614624023, 0.10065700113773346, 1.2582391500473022], [-5.200501918792725, 0.10065700113773346, 1.322943925857544], [-5.441983222961426, 0.10065700113773346, 1.3876488208770752], [-5.683464527130127, 0.10065700113773346, 1.4523537158966064], [-5.899971008300781, 0.10065700113773346, 1.5773537158966064]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 0]"}
{"id": 169, "episode_id": "170", "scene_id": "rPc6DW4iMge", "instruction": "Walk up the stairs. ", "start_position": [-5.130859851837158, -3.240571975708008, 4.5051798820495605], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [1.212689995765686, -0.313979834318161, 0.04156230017542839], "goal_radius": 3.0, "reference_path": "[[-5.130859851837158, -3.240571975708008, 4.5051798820495605], [-3.813770055770874, -3.240571975708008, 4.440100193023682], [-2.263979911804199, -3.240571975708008, 4.033130168914795], [-2.1706600189208984, -3.240571975708008, 2.204590082168579], [-0.9573240280151367, -2.6060128211975098, 2.3636300563812256], [0.2439509928226471, -1.785750150680542, 2.174530029296875], [1.212689995765686, -0.313979834318161, 0.04156230017542839]]", "geodesic_distance": 9.233928680419922, "gt_locations": "[[-5.130859851837158, -3.240571975708008, 4.5051798820495605], [-4.880859851837158, -3.240571975708008, 4.5051798820495605], [-4.630859851837158, -3.240571975708008, 4.5051798820495605], [-4.380859851837158, -3.240571975708008, 4.5051798820495605], [-4.130859851837158, -3.240571975708008, 4.5051798820495605], [-3.889378309249878, -3.240571975708008, 4.440474987030029], [-3.6478967666625977, -3.240571975708008, 4.375770092010498], [-3.4064152240753174, -3.240571975708008, 4.311065196990967], [-3.164933681488037, -3.240571975708008, 4.2463603019714355], [-2.914933681488037, -3.240571975708008, 4.2463603019714355], [-2.673452138900757, -3.240571975708008, 4.181655406951904], [-2.548452138900757, -3.240571975708008, 3.965149164199829], [-2.4837472438812256, -3.240571975708008, 3.723667621612549], [-2.4190423488616943, -3.240571975708008, 3.4821860790252686], [-2.354337453842163, -3.2328553199768066, 3.2407045364379883], [-2.289632558822632, -3.1895720958709717, 2.999222993850708], [-2.289632558822632, -3.2317118644714355, 2.749222993850708], [-2.2249276638031006, -3.240571975708008, 2.5077414512634277], [-2.0084211826324463, -3.1204051971435547, 2.3827414512634277], [-1.7669397592544556, -3.1328930854797363, 2.3180367946624756], [-1.5254583358764648, -3.024062156677246, 2.2533321380615234], [-1.2839769124984741, -2.8282470703125, 2.1886274814605713], [-1.0424954891204834, -2.6785709857940674, 2.123922824859619], [-0.8010140657424927, -2.4896457195281982, 2.059218168258667], [-0.559532642364502, -2.298646926879883, 1.9945133924484253], [-0.31805118918418884, -2.1076483726501465, 1.9298086166381836], [-0.06805120408535004, -1.916250467300415, 1.9298086166381836], [0.17343029379844666, -1.7707643508911133, 1.8651039600372314], [0.3899366855621338, -1.613431692123413, 1.7401039600372314], [0.6064430475234985, -1.4560989141464233, 1.6151039600372314], [0.7832197546958923, -1.2808594703674316, 1.4383273124694824], [0.9599964618682861, -1.1202659606933594, 1.2615506649017334], [1.0849964618682861, -0.9779067635536194, 1.0450443029403687], [1.2099964618682861, -0.7888481616973877, 0.8285379409790039], [1.3349964618682861, -0.6430272459983826, 0.6120315790176392], [1.3349964618682861, -0.553404688835144, 0.36203157901763916]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 170, "episode_id": "171", "scene_id": "rPc6DW4iMge", "instruction": "Walk past the refrigerator and take a left into the hallway. Take aright and go up the stairs. Stop on the fourth stair from the top. ", "start_position": [-5.130859851837158, -3.240571975708008, 4.5051798820495605], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [1.212689995765686, -0.313979834318161, 0.04156230017542839], "goal_radius": 3.0, "reference_path": "[[-5.130859851837158, -3.240571975708008, 4.5051798820495605], [-3.813770055770874, -3.240571975708008, 4.440100193023682], [-2.263979911804199, -3.240571975708008, 4.033130168914795], [-2.1706600189208984, -3.240571975708008, 2.204590082168579], [-0.9573240280151367, -2.6060128211975098, 2.3636300563812256], [0.2439509928226471, -1.785750150680542, 2.174530029296875], [1.212689995765686, -0.313979834318161, 0.04156230017542839]]", "geodesic_distance": 9.233928680419922, "gt_locations": "[[-5.130859851837158, -3.240571975708008, 4.5051798820495605], [-4.880859851837158, -3.240571975708008, 4.5051798820495605], [-4.630859851837158, -3.240571975708008, 4.5051798820495605], [-4.380859851837158, -3.240571975708008, 4.5051798820495605], [-4.130859851837158, -3.240571975708008, 4.5051798820495605], [-3.889378309249878, -3.240571975708008, 4.440474987030029], [-3.6478967666625977, -3.240571975708008, 4.375770092010498], [-3.4064152240753174, -3.240571975708008, 4.311065196990967], [-3.164933681488037, -3.240571975708008, 4.2463603019714355], [-2.914933681488037, -3.240571975708008, 4.2463603019714355], [-2.673452138900757, -3.240571975708008, 4.181655406951904], [-2.548452138900757, -3.240571975708008, 3.965149164199829], [-2.4837472438812256, -3.240571975708008, 3.723667621612549], [-2.4190423488616943, -3.240571975708008, 3.4821860790252686], [-2.354337453842163, -3.2328553199768066, 3.2407045364379883], [-2.289632558822632, -3.1895720958709717, 2.999222993850708], [-2.289632558822632, -3.2317118644714355, 2.749222993850708], [-2.2249276638031006, -3.240571975708008, 2.5077414512634277], [-2.0084211826324463, -3.1204051971435547, 2.3827414512634277], [-1.7669397592544556, -3.1328930854797363, 2.3180367946624756], [-1.5254583358764648, -3.024062156677246, 2.2533321380615234], [-1.2839769124984741, -2.8282470703125, 2.1886274814605713], [-1.0424954891204834, -2.6785709857940674, 2.123922824859619], [-0.8010140657424927, -2.4896457195281982, 2.059218168258667], [-0.559532642364502, -2.298646926879883, 1.9945133924484253], [-0.31805118918418884, -2.1076483726501465, 1.9298086166381836], [-0.06805120408535004, -1.916250467300415, 1.9298086166381836], [0.17343029379844666, -1.7707643508911133, 1.8651039600372314], [0.3899366855621338, -1.613431692123413, 1.7401039600372314], [0.6064430475234985, -1.4560989141464233, 1.6151039600372314], [0.7832197546958923, -1.2808594703674316, 1.4383273124694824], [0.9599964618682861, -1.1202659606933594, 1.2615506649017334], [1.0849964618682861, -0.9779067635536194, 1.0450443029403687], [1.2099964618682861, -0.7888481616973877, 0.8285379409790039], [1.3349964618682861, -0.6430272459983826, 0.6120315790176392], [1.3349964618682861, -0.553404688835144, 0.36203157901763916]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 171, "episode_id": "172", "scene_id": "rPc6DW4iMge", "instruction": "Go to the left and take the first left.  Go up the staircase.  When you're just about to the top of the steps, you should wait. ", "start_position": [-5.130859851837158, -3.240571975708008, 4.5051798820495605], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [1.212689995765686, -0.313979834318161, 0.04156230017542839], "goal_radius": 3.0, "reference_path": "[[-5.130859851837158, -3.240571975708008, 4.5051798820495605], [-3.813770055770874, -3.240571975708008, 4.440100193023682], [-2.263979911804199, -3.240571975708008, 4.033130168914795], [-2.1706600189208984, -3.240571975708008, 2.204590082168579], [-0.9573240280151367, -2.6060128211975098, 2.3636300563812256], [0.2439509928226471, -1.785750150680542, 2.174530029296875], [1.212689995765686, -0.313979834318161, 0.04156230017542839]]", "geodesic_distance": 9.233928680419922, "gt_locations": "[[-5.130859851837158, -3.240571975708008, 4.5051798820495605], [-4.880859851837158, -3.240571975708008, 4.5051798820495605], [-4.630859851837158, -3.240571975708008, 4.5051798820495605], [-4.380859851837158, -3.240571975708008, 4.5051798820495605], [-4.130859851837158, -3.240571975708008, 4.5051798820495605], [-3.889378309249878, -3.240571975708008, 4.440474987030029], [-3.6478967666625977, -3.240571975708008, 4.375770092010498], [-3.4064152240753174, -3.240571975708008, 4.311065196990967], [-3.164933681488037, -3.240571975708008, 4.2463603019714355], [-2.914933681488037, -3.240571975708008, 4.2463603019714355], [-2.673452138900757, -3.240571975708008, 4.181655406951904], [-2.548452138900757, -3.240571975708008, 3.965149164199829], [-2.4837472438812256, -3.240571975708008, 3.723667621612549], [-2.4190423488616943, -3.240571975708008, 3.4821860790252686], [-2.354337453842163, -3.2328553199768066, 3.2407045364379883], [-2.289632558822632, -3.1895720958709717, 2.999222993850708], [-2.289632558822632, -3.2317118644714355, 2.749222993850708], [-2.2249276638031006, -3.240571975708008, 2.5077414512634277], [-2.0084211826324463, -3.1204051971435547, 2.3827414512634277], [-1.7669397592544556, -3.1328930854797363, 2.3180367946624756], [-1.5254583358764648, -3.024062156677246, 2.2533321380615234], [-1.2839769124984741, -2.8282470703125, 2.1886274814605713], [-1.0424954891204834, -2.6785709857940674, 2.123922824859619], [-0.8010140657424927, -2.4896457195281982, 2.059218168258667], [-0.559532642364502, -2.298646926879883, 1.9945133924484253], [-0.31805118918418884, -2.1076483726501465, 1.9298086166381836], [-0.06805120408535004, -1.916250467300415, 1.9298086166381836], [0.17343029379844666, -1.7707643508911133, 1.8651039600372314], [0.3899366855621338, -1.613431692123413, 1.7401039600372314], [0.6064430475234985, -1.4560989141464233, 1.6151039600372314], [0.7832197546958923, -1.2808594703674316, 1.4383273124694824], [0.9599964618682861, -1.1202659606933594, 1.2615506649017334], [1.0849964618682861, -0.9779067635536194, 1.0450443029403687], [1.2099964618682861, -0.7888481616973877, 0.8285379409790039], [1.3349964618682861, -0.6430272459983826, 0.6120315790176392], [1.3349964618682861, -0.553404688835144, 0.36203157901763916]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 172, "episode_id": "173", "scene_id": "B6ByNegPMKs", "instruction": "Exit office, turn left, go straight down hallway, first door on right turn right, enter empty room, stop by door. ", "start_position": [47.19919967651367, 0.08020400255918503, 19.00469970703125], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [44.10060119628906, 0.08020400255918503, 22.70159912109375], "goal_radius": 3.0, "reference_path": "[[47.19919967651367, 0.08020400255918503, 19.00469970703125], [45.8843994140625, 0.08020400255918503, 19.20800018310547], [45.95690155029297, 0.08020400255918503, 21.079599380493164], [45.34189987182617, 0.08020400255918503, 22.819499969482422], [44.10060119628906, 0.08020400255918503, 22.70159912109375]]", "geodesic_distance": 5.5282392501831055, "gt_locations": "[[47.19919967651367, 0.08020400255918503, 19.00469970703125], [46.94919967651367, 0.08020400255918503, 19.00469970703125], [46.70771789550781, 0.08020400255918503, 19.06940460205078], [46.45771789550781, 0.08020400255918503, 19.06940460205078], [46.21623611450195, 0.08020400255918503, 19.134109497070312], [46.15153121948242, 0.08020400255918503, 19.375591278076172], [46.08682632446289, 0.08020400255918503, 19.61707305908203], [46.08682632446289, 0.08020400255918503, 19.86707305908203], [46.08682632446289, 0.08020400255918503, 20.11707305908203], [46.08682632446289, 0.08020400255918503, 20.36707305908203], [46.02212142944336, 0.08020400255918503, 20.60855484008789], [45.95741653442383, 0.08020400255918503, 20.85003662109375], [45.8927116394043, 0.08020400255918503, 21.09151840209961], [45.828006744384766, 0.08020400255918503, 21.33300018310547], [45.763301849365234, 0.08020400255918503, 21.574481964111328], [45.6985969543457, 0.08020400255918503, 21.815963745117188], [45.63389205932617, 0.08020400255918503, 22.057445526123047], [45.56918716430664, 0.08020400255918503, 22.298927307128906], [45.50448226928711, 0.08020400255918503, 22.540409088134766], [45.26300048828125, 0.08020400255918503, 22.643896102905273], [45.01300048828125, 0.08020400255918503, 22.643896102905273], [44.76300048828125, 0.08020400255918503, 22.643896102905273], [44.51300048828125, 0.08020400255918503, 22.643896102905273]]", "gt_actions": "[1, 2, 1, 3, 1, 2, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 0]"}
{"id": 173, "episode_id": "174", "scene_id": "B6ByNegPMKs", "instruction": "To take left side and go and turn at right side first room. ", "start_position": [47.19919967651367, 0.08020400255918503, 19.00469970703125], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [44.10060119628906, 0.08020400255918503, 22.70159912109375], "goal_radius": 3.0, "reference_path": "[[47.19919967651367, 0.08020400255918503, 19.00469970703125], [45.8843994140625, 0.08020400255918503, 19.20800018310547], [45.95690155029297, 0.08020400255918503, 21.079599380493164], [45.34189987182617, 0.08020400255918503, 22.819499969482422], [44.10060119628906, 0.08020400255918503, 22.70159912109375]]", "geodesic_distance": 5.5282392501831055, "gt_locations": "[[47.19919967651367, 0.08020400255918503, 19.00469970703125], [46.94919967651367, 0.08020400255918503, 19.00469970703125], [46.70771789550781, 0.08020400255918503, 19.06940460205078], [46.45771789550781, 0.08020400255918503, 19.06940460205078], [46.21623611450195, 0.08020400255918503, 19.134109497070312], [46.15153121948242, 0.08020400255918503, 19.375591278076172], [46.08682632446289, 0.08020400255918503, 19.61707305908203], [46.08682632446289, 0.08020400255918503, 19.86707305908203], [46.08682632446289, 0.08020400255918503, 20.11707305908203], [46.08682632446289, 0.08020400255918503, 20.36707305908203], [46.02212142944336, 0.08020400255918503, 20.60855484008789], [45.95741653442383, 0.08020400255918503, 20.85003662109375], [45.8927116394043, 0.08020400255918503, 21.09151840209961], [45.828006744384766, 0.08020400255918503, 21.33300018310547], [45.763301849365234, 0.08020400255918503, 21.574481964111328], [45.6985969543457, 0.08020400255918503, 21.815963745117188], [45.63389205932617, 0.08020400255918503, 22.057445526123047], [45.56918716430664, 0.08020400255918503, 22.298927307128906], [45.50448226928711, 0.08020400255918503, 22.540409088134766], [45.26300048828125, 0.08020400255918503, 22.643896102905273], [45.01300048828125, 0.08020400255918503, 22.643896102905273], [44.76300048828125, 0.08020400255918503, 22.643896102905273], [44.51300048828125, 0.08020400255918503, 22.643896102905273]]", "gt_actions": "[1, 2, 1, 3, 1, 2, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 0]"}
{"id": 174, "episode_id": "175", "scene_id": "B6ByNegPMKs", "instruction": "Walk out of the office and take a left. Take your first right and wait in the empty room. ", "start_position": [47.19919967651367, 0.08020400255918503, 19.00469970703125], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [44.10060119628906, 0.08020400255918503, 22.70159912109375], "goal_radius": 3.0, "reference_path": "[[47.19919967651367, 0.08020400255918503, 19.00469970703125], [45.8843994140625, 0.08020400255918503, 19.20800018310547], [45.95690155029297, 0.08020400255918503, 21.079599380493164], [45.34189987182617, 0.08020400255918503, 22.819499969482422], [44.10060119628906, 0.08020400255918503, 22.70159912109375]]", "geodesic_distance": 5.5282392501831055, "gt_locations": "[[47.19919967651367, 0.08020400255918503, 19.00469970703125], [46.94919967651367, 0.08020400255918503, 19.00469970703125], [46.70771789550781, 0.08020400255918503, 19.06940460205078], [46.45771789550781, 0.08020400255918503, 19.06940460205078], [46.21623611450195, 0.08020400255918503, 19.134109497070312], [46.15153121948242, 0.08020400255918503, 19.375591278076172], [46.08682632446289, 0.08020400255918503, 19.61707305908203], [46.08682632446289, 0.08020400255918503, 19.86707305908203], [46.08682632446289, 0.08020400255918503, 20.11707305908203], [46.08682632446289, 0.08020400255918503, 20.36707305908203], [46.02212142944336, 0.08020400255918503, 20.60855484008789], [45.95741653442383, 0.08020400255918503, 20.85003662109375], [45.8927116394043, 0.08020400255918503, 21.09151840209961], [45.828006744384766, 0.08020400255918503, 21.33300018310547], [45.763301849365234, 0.08020400255918503, 21.574481964111328], [45.6985969543457, 0.08020400255918503, 21.815963745117188], [45.63389205932617, 0.08020400255918503, 22.057445526123047], [45.56918716430664, 0.08020400255918503, 22.298927307128906], [45.50448226928711, 0.08020400255918503, 22.540409088134766], [45.26300048828125, 0.08020400255918503, 22.643896102905273], [45.01300048828125, 0.08020400255918503, 22.643896102905273], [44.76300048828125, 0.08020400255918503, 22.643896102905273], [44.51300048828125, 0.08020400255918503, 22.643896102905273]]", "gt_actions": "[1, 2, 1, 3, 1, 2, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 0]"}
{"id": 175, "episode_id": "176", "scene_id": "Pm6F8kyY3z2", "instruction": "Walk towards the bed,  turn left at the foot of the bed, stop in the middle of the circled tile on the floor. ", "start_position": [-3.081899881362915, 0.08912014961242676, -6.163259983062744], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-0.10563600063323975, 0.08912014961242676, -2.110490083694458], "goal_radius": 3.0, "reference_path": "[[-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-0.9622160196304321, 0.08912014961242676, -2.8754000663757324], [-0.10563600063323975, 0.08912014961242676, -2.110490083694458]]", "geodesic_distance": 5.028229236602783, "gt_locations": "[[-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-2.956899881362915, 0.08912014961242676, -5.94675350189209], [-2.831899881362915, 0.08912014961242676, -5.7302470207214355], [-2.706899881362915, 0.08912014961242676, -5.513740539550781], [-2.581899881362915, 0.08912014961242676, -5.297234058380127], [-2.456899881362915, 0.08912014961242676, -5.080727577209473], [-2.331899881362915, 0.08912014961242676, -4.864221096038818], [-2.206899881362915, 0.08912014961242676, -4.647714614868164], [-2.142195224761963, 0.08912014961242676, -4.406233310699463], [-2.0774905681610107, 0.08912014961242676, -4.164752006530762], [-2.0127859115600586, 0.08912014961242676, -3.9232707023620605], [-1.8360092639923096, 0.08912014961242676, -3.7464940547943115], [-1.6592326164245605, 0.08912014961242676, -3.5697174072265625], [-1.4824559688568115, 0.08912014961242676, -3.3929407596588135], [-1.3056793212890625, 0.08912014961242676, -3.2161641120910645], [-1.1289026737213135, 0.08912014961242676, -3.0393874645233154], [-0.9521259665489197, 0.08912014961242676, -2.8626108169555664], [-0.7753492593765259, 0.08912014961242676, -2.6858341693878174], [-0.5985725522041321, 0.08912014961242676, -2.5090575218200684], [-0.4217958450317383, 0.08912014961242676, -2.3322808742523193]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 176, "episode_id": "177", "scene_id": "Pm6F8kyY3z2", "instruction": "GO to the left, and to the foot of the bed, turn and go left.  Just before you leave the big circle on the floor, you'll need to stop.  Wait there. ", "start_position": [-3.081899881362915, 0.08912014961242676, -6.163259983062744], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-0.10563600063323975, 0.08912014961242676, -2.110490083694458], "goal_radius": 3.0, "reference_path": "[[-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-0.9622160196304321, 0.08912014961242676, -2.8754000663757324], [-0.10563600063323975, 0.08912014961242676, -2.110490083694458]]", "geodesic_distance": 5.028229236602783, "gt_locations": "[[-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-2.956899881362915, 0.08912014961242676, -5.94675350189209], [-2.831899881362915, 0.08912014961242676, -5.7302470207214355], [-2.706899881362915, 0.08912014961242676, -5.513740539550781], [-2.581899881362915, 0.08912014961242676, -5.297234058380127], [-2.456899881362915, 0.08912014961242676, -5.080727577209473], [-2.331899881362915, 0.08912014961242676, -4.864221096038818], [-2.206899881362915, 0.08912014961242676, -4.647714614868164], [-2.142195224761963, 0.08912014961242676, -4.406233310699463], [-2.0774905681610107, 0.08912014961242676, -4.164752006530762], [-2.0127859115600586, 0.08912014961242676, -3.9232707023620605], [-1.8360092639923096, 0.08912014961242676, -3.7464940547943115], [-1.6592326164245605, 0.08912014961242676, -3.5697174072265625], [-1.4824559688568115, 0.08912014961242676, -3.3929407596588135], [-1.3056793212890625, 0.08912014961242676, -3.2161641120910645], [-1.1289026737213135, 0.08912014961242676, -3.0393874645233154], [-0.9521259665489197, 0.08912014961242676, -2.8626108169555664], [-0.7753492593765259, 0.08912014961242676, -2.6858341693878174], [-0.5985725522041321, 0.08912014961242676, -2.5090575218200684], [-0.4217958450317383, 0.08912014961242676, -2.3322808742523193]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 177, "episode_id": "178", "scene_id": "Pm6F8kyY3z2", "instruction": "Walk towards the foot of the bed. Wait at the foot of the bed. ", "start_position": [-3.081899881362915, 0.08912014961242676, -6.163259983062744], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-0.10563600063323975, 0.08912014961242676, -2.110490083694458], "goal_radius": 3.0, "reference_path": "[[-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-0.9622160196304321, 0.08912014961242676, -2.8754000663757324], [-0.10563600063323975, 0.08912014961242676, -2.110490083694458]]", "geodesic_distance": 5.028229236602783, "gt_locations": "[[-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-2.956899881362915, 0.08912014961242676, -5.94675350189209], [-2.831899881362915, 0.08912014961242676, -5.7302470207214355], [-2.706899881362915, 0.08912014961242676, -5.513740539550781], [-2.581899881362915, 0.08912014961242676, -5.297234058380127], [-2.456899881362915, 0.08912014961242676, -5.080727577209473], [-2.331899881362915, 0.08912014961242676, -4.864221096038818], [-2.206899881362915, 0.08912014961242676, -4.647714614868164], [-2.142195224761963, 0.08912014961242676, -4.406233310699463], [-2.0774905681610107, 0.08912014961242676, -4.164752006530762], [-2.0127859115600586, 0.08912014961242676, -3.9232707023620605], [-1.8360092639923096, 0.08912014961242676, -3.7464940547943115], [-1.6592326164245605, 0.08912014961242676, -3.5697174072265625], [-1.4824559688568115, 0.08912014961242676, -3.3929407596588135], [-1.3056793212890625, 0.08912014961242676, -3.2161641120910645], [-1.1289026737213135, 0.08912014961242676, -3.0393874645233154], [-0.9521259665489197, 0.08912014961242676, -2.8626108169555664], [-0.7753492593765259, 0.08912014961242676, -2.6858341693878174], [-0.5985725522041321, 0.08912014961242676, -2.5090575218200684], [-0.4217958450317383, 0.08912014961242676, -2.3322808742523193]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 178, "episode_id": "179", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk to the mirror and take a left before you reach it. Walk straight and out onto the patio. Stop once you are on the patio. ", "start_position": [-9.377679824829102, 0.04283595085144043, 7.251659870147705], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-9.640003204345703, 0.04283595085144043, 13.33489990234375], "goal_radius": 3.0, "reference_path": "[[-9.377679824829102, 0.04283595085144043, 7.251659870147705], [-8.76255989074707, 0.04283595085144043, 7.914790153503418], [-8.143560409545898, 0.04283595085144043, 9.273200035095215], [-8.82781982421875, 0.06701037287712097, 10.6875], [-9.427809715270996, 0.14461469650268555, 12.1983003616333], [-9.640003204345703, 0.04283595085144043, 13.33489990234375]]", "geodesic_distance": 6.4543352127075195, "gt_locations": "[[-9.377679824829102, 0.04283595085144043, 7.251659870147705], [-9.200902938842773, 0.04283595085144043, 7.428436756134033], [-9.024126052856445, 0.04283595085144043, 7.605213642120361], [-8.899126052856445, 0.04283595085144043, 7.821720123291016], [-8.774126052856445, 0.04283595085144043, 8.038226127624512], [-8.649126052856445, 0.04283595085144043, 8.254732131958008], [-8.524126052856445, 0.04283595085144043, 8.471238136291504], [-8.399126052856445, 0.04283595085144043, 8.687744140625], [-8.274126052856445, 0.04283595085144043, 8.904250144958496], [-8.274126052856445, 0.04283595085144043, 9.154250144958496], [-8.274126052856445, 0.04283595085144043, 9.404250144958496], [-8.274126052856445, 0.04283595085144043, 9.654250144958496], [-8.274126052856445, 0.04283595085144043, 9.904250144958496], [-8.338830947875977, 0.04283595085144043, 10.145731925964355], [-8.463830947875977, 0.04283595085144043, 10.362237930297852], [-8.588830947875977, 0.05191376805305481, 10.578743934631348], [-8.713830947875977, 0.07680583000183105, 10.795249938964844], [-8.838830947875977, 0.09648817777633667, 11.01175594329834], [-8.963830947875977, 0.10411407053470612, 11.228261947631836], [-9.088830947875977, 0.11007308214902878, 11.444767951965332], [-9.213830947875977, 0.11603209376335144, 11.661273956298828], [-9.338830947875977, 0.12199109047651291, 11.877779960632324], [-9.403535842895508, 0.1408255249261856, 12.119261741638184], [-9.468240737915039, 0.14897173643112183, 12.360743522644043], [-9.53294563293457, 0.15419921278953552, 12.602225303649902], [-9.597650527954102, 0.04283595085144043, 12.843707084655762]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 179, "episode_id": "180", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk past the mirror towards the right and walk all the way through the bedroom. Wait just outside the door to the patio. ", "start_position": [-9.377679824829102, 0.04283595085144043, 7.251659870147705], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-9.640003204345703, 0.04283595085144043, 13.33489990234375], "goal_radius": 3.0, "reference_path": "[[-9.377679824829102, 0.04283595085144043, 7.251659870147705], [-8.76255989074707, 0.04283595085144043, 7.914790153503418], [-8.143560409545898, 0.04283595085144043, 9.273200035095215], [-8.82781982421875, 0.06701037287712097, 10.6875], [-9.427809715270996, 0.14461469650268555, 12.1983003616333], [-9.640003204345703, 0.04283595085144043, 13.33489990234375]]", "geodesic_distance": 6.4543352127075195, "gt_locations": "[[-9.377679824829102, 0.04283595085144043, 7.251659870147705], [-9.200902938842773, 0.04283595085144043, 7.428436756134033], [-9.024126052856445, 0.04283595085144043, 7.605213642120361], [-8.899126052856445, 0.04283595085144043, 7.821720123291016], [-8.774126052856445, 0.04283595085144043, 8.038226127624512], [-8.649126052856445, 0.04283595085144043, 8.254732131958008], [-8.524126052856445, 0.04283595085144043, 8.471238136291504], [-8.399126052856445, 0.04283595085144043, 8.687744140625], [-8.274126052856445, 0.04283595085144043, 8.904250144958496], [-8.274126052856445, 0.04283595085144043, 9.154250144958496], [-8.274126052856445, 0.04283595085144043, 9.404250144958496], [-8.274126052856445, 0.04283595085144043, 9.654250144958496], [-8.274126052856445, 0.04283595085144043, 9.904250144958496], [-8.338830947875977, 0.04283595085144043, 10.145731925964355], [-8.463830947875977, 0.04283595085144043, 10.362237930297852], [-8.588830947875977, 0.05191376805305481, 10.578743934631348], [-8.713830947875977, 0.07680583000183105, 10.795249938964844], [-8.838830947875977, 0.09648817777633667, 11.01175594329834], [-8.963830947875977, 0.10411407053470612, 11.228261947631836], [-9.088830947875977, 0.11007308214902878, 11.444767951965332], [-9.213830947875977, 0.11603209376335144, 11.661273956298828], [-9.338830947875977, 0.12199109047651291, 11.877779960632324], [-9.403535842895508, 0.1408255249261856, 12.119261741638184], [-9.468240737915039, 0.14897173643112183, 12.360743522644043], [-9.53294563293457, 0.15419921278953552, 12.602225303649902], [-9.597650527954102, 0.04283595085144043, 12.843707084655762]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 180, "episode_id": "181", "scene_id": "Vvot9Ly1tCj", "instruction": "Take a right and wait by the couch outside of the bedroom. ", "start_position": [-9.377679824829102, 0.04283595085144043, 7.251659870147705], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-9.640003204345703, 0.04283595085144043, 13.33489990234375], "goal_radius": 3.0, "reference_path": "[[-9.377679824829102, 0.04283595085144043, 7.251659870147705], [-8.76255989074707, 0.04283595085144043, 7.914790153503418], [-8.143560409545898, 0.04283595085144043, 9.273200035095215], [-8.82781982421875, 0.06701037287712097, 10.6875], [-9.427809715270996, 0.14461469650268555, 12.1983003616333], [-9.640003204345703, 0.04283595085144043, 13.33489990234375]]", "geodesic_distance": 6.4543352127075195, "gt_locations": "[[-9.377679824829102, 0.04283595085144043, 7.251659870147705], [-9.200902938842773, 0.04283595085144043, 7.428436756134033], [-9.024126052856445, 0.04283595085144043, 7.605213642120361], [-8.899126052856445, 0.04283595085144043, 7.821720123291016], [-8.774126052856445, 0.04283595085144043, 8.038226127624512], [-8.649126052856445, 0.04283595085144043, 8.254732131958008], [-8.524126052856445, 0.04283595085144043, 8.471238136291504], [-8.399126052856445, 0.04283595085144043, 8.687744140625], [-8.274126052856445, 0.04283595085144043, 8.904250144958496], [-8.274126052856445, 0.04283595085144043, 9.154250144958496], [-8.274126052856445, 0.04283595085144043, 9.404250144958496], [-8.274126052856445, 0.04283595085144043, 9.654250144958496], [-8.274126052856445, 0.04283595085144043, 9.904250144958496], [-8.338830947875977, 0.04283595085144043, 10.145731925964355], [-8.463830947875977, 0.04283595085144043, 10.362237930297852], [-8.588830947875977, 0.05191376805305481, 10.578743934631348], [-8.713830947875977, 0.07680583000183105, 10.795249938964844], [-8.838830947875977, 0.09648817777633667, 11.01175594329834], [-8.963830947875977, 0.10411407053470612, 11.228261947631836], [-9.088830947875977, 0.11007308214902878, 11.444767951965332], [-9.213830947875977, 0.11603209376335144, 11.661273956298828], [-9.338830947875977, 0.12199109047651291, 11.877779960632324], [-9.403535842895508, 0.1408255249261856, 12.119261741638184], [-9.468240737915039, 0.14897173643112183, 12.360743522644043], [-9.53294563293457, 0.15419921278953552, 12.602225303649902], [-9.597650527954102, 0.04283595085144043, 12.843707084655762]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 181, "episode_id": "182", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk over the welcoming PGI HOMES mats and enter the building, go past the chairs and couches on your left. go through the entrance and wait by the plants. 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{"id": 182, "episode_id": "183", "scene_id": "Vvot9Ly1tCj", "instruction": "Enter the building through the double doors and walk through the living area. Stop by the doorway to the hallway. 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{"id": 183, "episode_id": "184", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk inside the house. Take a left to walk past the TV and the white couch. Wait in between the two plants. 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{"id": 184, "episode_id": "185", "scene_id": "5LpN3gDmAk7", "instruction": "Exit the bathroom and turn left, go past the stairs and turn right then go past the kitchen table and turn left. Wait by the white couch that is facing the painting. ", "start_position": [3.0204501152038574, -1.0843499898910522, 15.04889965057373], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [9.175270080566406, -1.0843499898910522, 6.389739990234375], "goal_radius": 3.0, "reference_path": "[[3.0204501152038574, -1.0843499898910522, 15.04889965057373], [3.5566000938415527, -1.0843499898910522, 13.003899574279785], [3.1697399616241455, -1.0843499898910522, 10.744999885559082], [8.674449920654297, -1.0843499898910522, 8.6083402633667], [8.957229614257812, -1.0843499898910522, 7.325819969177246], [9.175270080566406, -1.0843499898910522, 6.389739990234375]]", "geodesic_distance": 11.836960792541504, "gt_locations": "[[3.0204501152038574, -1.0843499898910522, 15.04889965057373], [3.1454501152038574, -1.0843499898910522, 14.832393646240234], [3.2474851608276367, -1.0843499898910522, 14.590911865234375], [3.312189817428589, -1.0843499898910522, 14.349430084228516], [3.376894474029541, -1.0843499898910522, 14.107948303222656], [3.441599130630493, -1.0843499898910522, 13.866466522216797], [3.5063037872314453, -1.0843499898910522, 13.624984741210938], [3.5063037872314453, -1.0843499898910522, 13.374984741210938], [3.5063037872314453, -1.0843499898910522, 13.124984741210938], [3.5063037872314453, -1.0843499898910522, 12.874984741210938], [3.5063037872314453, -1.0843499898910522, 12.624984741210938], [3.441599130630493, -1.0843499898910522, 12.383502960205078], [3.376894474029541, -1.0843499898910522, 12.142021179199219], [3.312189817428589, -1.0843499898910522, 11.90053939819336], [3.2474851608276367, -1.0843499898910522, 11.6590576171875], [3.2474851608276367, -1.0843499898910522, 11.4090576171875], [3.2474851608276367, -1.0843499898910522, 11.1590576171875], [3.4242618083953857, -1.0843499898910522, 10.982280731201172], [3.6010384559631348, -1.0843499898910522, 10.805503845214844], [3.777815103530884, -1.0843499898910522, 10.628726959228516], [3.954591751098633, -1.0843499898910522, 10.451950073242188], [4.131368637084961, -1.0843499898910522, 10.27517318725586], [4.347875118255615, -1.0843499898910522, 10.15017318725586], [4.589356422424316, -1.0843499898910522, 10.085468292236328], [4.830837726593018, -1.0843499898910522, 10.020763397216797], [5.0879034996032715, -1.0843499898910522, 9.982032775878906], [5.329384803771973, -1.0843499898910522, 9.917327880859375], [5.572749137878418, -1.0843499898910522, 9.805756568908691], [5.822749137878418, -1.0843499898910522, 9.805756568908691], [6.072749137878418, -1.0843499898910522, 9.805756568908691], [6.326927661895752, -1.0843499898910522, 9.747400283813477], [6.576927661895752, -1.0843499898910522, 9.747400283813477], [6.826927661895752, -1.0843499898910522, 9.747400283813477], [7.087401866912842, -1.0843499898910522, 9.66636848449707], [7.303908348083496, -1.0843499898910522, 9.54136848449707], [7.52041482925415, -1.0843499898910522, 9.41636848449707], [7.736921310424805, -1.0843499898910522, 9.29136848449707], [7.953427791595459, -1.0843499898910522, 9.16636848449707], [8.169934272766113, -1.0843499898910522, 9.04136848449707], [8.346711158752441, -1.0843499898910522, 8.864591598510742], [8.471711158752441, -1.0843499898910522, 8.648085594177246], [8.536416053771973, -1.0843499898910522, 8.406603813171387], [8.601120948791504, -1.0843499898910522, 8.165122032165527], [8.665825843811035, -1.0843499898910522, 7.923640727996826], [8.790825843811035, -1.0843499898910522, 7.707134246826172], [8.855530738830566, -1.0843499898910522, 7.465652942657471], [8.920235633850098, -1.0843499898910522, 7.2241716384887695], [8.984940528869629, -1.0843499898910522, 6.982690334320068], [9.04964542388916, -1.0843499898910522, 6.741209030151367]]", "gt_actions": "[3, 3, 3, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 185, "episode_id": "186", "scene_id": "5LpN3gDmAk7", "instruction": "Walk down the hall and past the stairs. Turn right and walk past the dining room table and chairs. Turn left and stop by the couch. ", "start_position": [3.0204501152038574, -1.0843499898910522, 15.04889965057373], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [9.175270080566406, -1.0843499898910522, 6.389739990234375], "goal_radius": 3.0, "reference_path": "[[3.0204501152038574, -1.0843499898910522, 15.04889965057373], [3.5566000938415527, -1.0843499898910522, 13.003899574279785], [3.1697399616241455, -1.0843499898910522, 10.744999885559082], [8.674449920654297, -1.0843499898910522, 8.6083402633667], [8.957229614257812, -1.0843499898910522, 7.325819969177246], [9.175270080566406, -1.0843499898910522, 6.389739990234375]]", "geodesic_distance": 11.836960792541504, "gt_locations": "[[3.0204501152038574, -1.0843499898910522, 15.04889965057373], [3.1454501152038574, -1.0843499898910522, 14.832393646240234], [3.2474851608276367, -1.0843499898910522, 14.590911865234375], [3.312189817428589, -1.0843499898910522, 14.349430084228516], [3.376894474029541, -1.0843499898910522, 14.107948303222656], [3.441599130630493, -1.0843499898910522, 13.866466522216797], [3.5063037872314453, -1.0843499898910522, 13.624984741210938], [3.5063037872314453, -1.0843499898910522, 13.374984741210938], [3.5063037872314453, -1.0843499898910522, 13.124984741210938], [3.5063037872314453, -1.0843499898910522, 12.874984741210938], [3.5063037872314453, -1.0843499898910522, 12.624984741210938], [3.441599130630493, -1.0843499898910522, 12.383502960205078], [3.376894474029541, -1.0843499898910522, 12.142021179199219], [3.312189817428589, -1.0843499898910522, 11.90053939819336], [3.2474851608276367, -1.0843499898910522, 11.6590576171875], [3.2474851608276367, -1.0843499898910522, 11.4090576171875], [3.2474851608276367, -1.0843499898910522, 11.1590576171875], [3.4242618083953857, -1.0843499898910522, 10.982280731201172], [3.6010384559631348, -1.0843499898910522, 10.805503845214844], [3.777815103530884, -1.0843499898910522, 10.628726959228516], [3.954591751098633, -1.0843499898910522, 10.451950073242188], [4.131368637084961, -1.0843499898910522, 10.27517318725586], [4.347875118255615, -1.0843499898910522, 10.15017318725586], [4.589356422424316, -1.0843499898910522, 10.085468292236328], [4.830837726593018, -1.0843499898910522, 10.020763397216797], [5.0879034996032715, -1.0843499898910522, 9.982032775878906], [5.329384803771973, -1.0843499898910522, 9.917327880859375], [5.572749137878418, -1.0843499898910522, 9.805756568908691], [5.822749137878418, -1.0843499898910522, 9.805756568908691], [6.072749137878418, -1.0843499898910522, 9.805756568908691], [6.326927661895752, -1.0843499898910522, 9.747400283813477], [6.576927661895752, -1.0843499898910522, 9.747400283813477], [6.826927661895752, -1.0843499898910522, 9.747400283813477], [7.087401866912842, -1.0843499898910522, 9.66636848449707], [7.303908348083496, -1.0843499898910522, 9.54136848449707], [7.52041482925415, -1.0843499898910522, 9.41636848449707], [7.736921310424805, -1.0843499898910522, 9.29136848449707], [7.953427791595459, -1.0843499898910522, 9.16636848449707], [8.169934272766113, -1.0843499898910522, 9.04136848449707], [8.346711158752441, -1.0843499898910522, 8.864591598510742], [8.471711158752441, -1.0843499898910522, 8.648085594177246], [8.536416053771973, -1.0843499898910522, 8.406603813171387], [8.601120948791504, -1.0843499898910522, 8.165122032165527], [8.665825843811035, -1.0843499898910522, 7.923640727996826], [8.790825843811035, -1.0843499898910522, 7.707134246826172], [8.855530738830566, -1.0843499898910522, 7.465652942657471], [8.920235633850098, -1.0843499898910522, 7.2241716384887695], [8.984940528869629, -1.0843499898910522, 6.982690334320068], [9.04964542388916, -1.0843499898910522, 6.741209030151367]]", "gt_actions": "[3, 3, 3, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 186, "episode_id": "187", "scene_id": "5LpN3gDmAk7", "instruction": "Exit the bathroom and walk past the stairs. Turn right and walk past the dinning room table. Stand near the patio doorway. ", "start_position": [3.0204501152038574, -1.0843499898910522, 15.04889965057373], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [9.175270080566406, -1.0843499898910522, 6.389739990234375], "goal_radius": 3.0, "reference_path": "[[3.0204501152038574, -1.0843499898910522, 15.04889965057373], [3.5566000938415527, -1.0843499898910522, 13.003899574279785], [3.1697399616241455, -1.0843499898910522, 10.744999885559082], [8.674449920654297, -1.0843499898910522, 8.6083402633667], [8.957229614257812, -1.0843499898910522, 7.325819969177246], [9.175270080566406, -1.0843499898910522, 6.389739990234375]]", "geodesic_distance": 11.836960792541504, "gt_locations": "[[3.0204501152038574, -1.0843499898910522, 15.04889965057373], [3.1454501152038574, -1.0843499898910522, 14.832393646240234], [3.2474851608276367, -1.0843499898910522, 14.590911865234375], [3.312189817428589, -1.0843499898910522, 14.349430084228516], [3.376894474029541, -1.0843499898910522, 14.107948303222656], [3.441599130630493, -1.0843499898910522, 13.866466522216797], [3.5063037872314453, -1.0843499898910522, 13.624984741210938], [3.5063037872314453, -1.0843499898910522, 13.374984741210938], [3.5063037872314453, -1.0843499898910522, 13.124984741210938], [3.5063037872314453, -1.0843499898910522, 12.874984741210938], [3.5063037872314453, -1.0843499898910522, 12.624984741210938], [3.441599130630493, -1.0843499898910522, 12.383502960205078], [3.376894474029541, -1.0843499898910522, 12.142021179199219], [3.312189817428589, -1.0843499898910522, 11.90053939819336], [3.2474851608276367, -1.0843499898910522, 11.6590576171875], [3.2474851608276367, -1.0843499898910522, 11.4090576171875], [3.2474851608276367, -1.0843499898910522, 11.1590576171875], [3.4242618083953857, -1.0843499898910522, 10.982280731201172], [3.6010384559631348, -1.0843499898910522, 10.805503845214844], [3.777815103530884, -1.0843499898910522, 10.628726959228516], [3.954591751098633, -1.0843499898910522, 10.451950073242188], [4.131368637084961, -1.0843499898910522, 10.27517318725586], [4.347875118255615, -1.0843499898910522, 10.15017318725586], [4.589356422424316, -1.0843499898910522, 10.085468292236328], [4.830837726593018, -1.0843499898910522, 10.020763397216797], [5.0879034996032715, -1.0843499898910522, 9.982032775878906], [5.329384803771973, -1.0843499898910522, 9.917327880859375], [5.572749137878418, -1.0843499898910522, 9.805756568908691], [5.822749137878418, -1.0843499898910522, 9.805756568908691], [6.072749137878418, -1.0843499898910522, 9.805756568908691], [6.326927661895752, -1.0843499898910522, 9.747400283813477], [6.576927661895752, -1.0843499898910522, 9.747400283813477], [6.826927661895752, -1.0843499898910522, 9.747400283813477], [7.087401866912842, -1.0843499898910522, 9.66636848449707], [7.303908348083496, -1.0843499898910522, 9.54136848449707], [7.52041482925415, -1.0843499898910522, 9.41636848449707], [7.736921310424805, -1.0843499898910522, 9.29136848449707], [7.953427791595459, -1.0843499898910522, 9.16636848449707], [8.169934272766113, -1.0843499898910522, 9.04136848449707], [8.346711158752441, -1.0843499898910522, 8.864591598510742], [8.471711158752441, -1.0843499898910522, 8.648085594177246], [8.536416053771973, -1.0843499898910522, 8.406603813171387], [8.601120948791504, -1.0843499898910522, 8.165122032165527], [8.665825843811035, -1.0843499898910522, 7.923640727996826], [8.790825843811035, -1.0843499898910522, 7.707134246826172], [8.855530738830566, -1.0843499898910522, 7.465652942657471], [8.920235633850098, -1.0843499898910522, 7.2241716384887695], [8.984940528869629, -1.0843499898910522, 6.982690334320068], [9.04964542388916, -1.0843499898910522, 6.741209030151367]]", "gt_actions": "[3, 3, 3, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 187, "episode_id": "188", "scene_id": "e9zR4mvMWw7", "instruction": "Walk straight and go out the door to the left.  Go down the hallway and stop at the first door on your left facing the end of the hallway. ", "start_position": [9.208189964294434, 2.8866939544677734, 5.8892598152160645], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [10.753800392150879, 2.8866939544677734, 2.2058498859405518], "goal_radius": 3.0, "reference_path": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [10.741900444030762, 2.8866939544677734, 5.8441901206970215], [10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518]]", "geodesic_distance": 4.888960838317871, "gt_locations": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [9.458189964294434, 2.8866939544677734, 5.8892598152160645], [9.699671745300293, 2.8866939544677734, 5.824554920196533], [9.949671745300293, 2.8866939544677734, 5.824554920196533], [10.199671745300293, 2.8866939544677734, 5.824554920196533], [10.449671745300293, 2.8866939544677734, 5.824554920196533], [10.626448631286621, 2.8866939544677734, 5.647778034210205], [10.758763313293457, 2.8866939544677734, 5.434928894042969], [10.823468208312988, 2.8866939544677734, 5.193447589874268], [10.88817310333252, 2.8866939544677734, 4.951966285705566], [10.88817310333252, 2.8866939544677734, 4.701966285705566], [10.88817310333252, 2.8866939544677734, 4.451966285705566], [10.88817310333252, 2.8866939544677734, 4.201966285705566], [10.88817310333252, 2.8866939544677734, 3.9519662857055664], [10.88817310333252, 2.8866939544677734, 3.7019662857055664], [10.88817310333252, 2.8866939544677734, 3.4519662857055664], [10.88817310333252, 2.8866939544677734, 3.2019662857055664], [10.88817310333252, 2.8866939544677734, 2.9519662857055664], [10.88817310333252, 2.8866939544677734, 2.7019662857055664], [10.823468208312988, 2.8866939544677734, 2.460484743118286]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 188, "episode_id": "189", "scene_id": "e9zR4mvMWw7", "instruction": "Walk forward through the door and go out of the bathroom, through the door on the left.  Walk down the hallway and stop at the first door on the left. ", "start_position": [9.208189964294434, 2.8866939544677734, 5.8892598152160645], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [10.753800392150879, 2.8866939544677734, 2.2058498859405518], "goal_radius": 3.0, "reference_path": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [10.741900444030762, 2.8866939544677734, 5.8441901206970215], [10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518]]", "geodesic_distance": 4.888960838317871, "gt_locations": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [9.458189964294434, 2.8866939544677734, 5.8892598152160645], [9.699671745300293, 2.8866939544677734, 5.824554920196533], [9.949671745300293, 2.8866939544677734, 5.824554920196533], [10.199671745300293, 2.8866939544677734, 5.824554920196533], [10.449671745300293, 2.8866939544677734, 5.824554920196533], [10.626448631286621, 2.8866939544677734, 5.647778034210205], [10.758763313293457, 2.8866939544677734, 5.434928894042969], [10.823468208312988, 2.8866939544677734, 5.193447589874268], [10.88817310333252, 2.8866939544677734, 4.951966285705566], [10.88817310333252, 2.8866939544677734, 4.701966285705566], [10.88817310333252, 2.8866939544677734, 4.451966285705566], [10.88817310333252, 2.8866939544677734, 4.201966285705566], [10.88817310333252, 2.8866939544677734, 3.9519662857055664], [10.88817310333252, 2.8866939544677734, 3.7019662857055664], [10.88817310333252, 2.8866939544677734, 3.4519662857055664], [10.88817310333252, 2.8866939544677734, 3.2019662857055664], [10.88817310333252, 2.8866939544677734, 2.9519662857055664], [10.88817310333252, 2.8866939544677734, 2.7019662857055664], [10.823468208312988, 2.8866939544677734, 2.460484743118286]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 189, "episode_id": "190", "scene_id": "e9zR4mvMWw7", "instruction": "walk away from the toilet and exit the bathroom through the door on the left. Walk down the hallway and stop in front of the first doorway on the left. ", "start_position": [9.208189964294434, 2.8866939544677734, 5.8892598152160645], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [10.753800392150879, 2.8866939544677734, 2.2058498859405518], "goal_radius": 3.0, "reference_path": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [10.741900444030762, 2.8866939544677734, 5.8441901206970215], [10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518]]", "geodesic_distance": 4.888960838317871, "gt_locations": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [9.458189964294434, 2.8866939544677734, 5.8892598152160645], [9.699671745300293, 2.8866939544677734, 5.824554920196533], [9.949671745300293, 2.8866939544677734, 5.824554920196533], [10.199671745300293, 2.8866939544677734, 5.824554920196533], [10.449671745300293, 2.8866939544677734, 5.824554920196533], [10.626448631286621, 2.8866939544677734, 5.647778034210205], [10.758763313293457, 2.8866939544677734, 5.434928894042969], [10.823468208312988, 2.8866939544677734, 5.193447589874268], [10.88817310333252, 2.8866939544677734, 4.951966285705566], [10.88817310333252, 2.8866939544677734, 4.701966285705566], [10.88817310333252, 2.8866939544677734, 4.451966285705566], [10.88817310333252, 2.8866939544677734, 4.201966285705566], [10.88817310333252, 2.8866939544677734, 3.9519662857055664], [10.88817310333252, 2.8866939544677734, 3.7019662857055664], [10.88817310333252, 2.8866939544677734, 3.4519662857055664], [10.88817310333252, 2.8866939544677734, 3.2019662857055664], [10.88817310333252, 2.8866939544677734, 2.9519662857055664], [10.88817310333252, 2.8866939544677734, 2.7019662857055664], [10.823468208312988, 2.8866939544677734, 2.460484743118286]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 190, "episode_id": "191", "scene_id": "ULsKaCPVFJR", "instruction": "Exit the room and walk straight through the tiled area. Enter the next room and wait near the entrance by the suitcases. ", "start_position": [8.808320045471191, 0.08356200158596039, 16.923999786376953], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.8112900257110596, 0.08356200158596039, 11.247699737548828], "goal_radius": 3.0, "reference_path": "[[8.808320045471191, 0.08356200158596039, 16.923999786376953], [7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [3.8112900257110596, 0.08356200158596039, 11.247699737548828]]", "geodesic_distance": 7.597161293029785, "gt_locations": "[[8.808320045471191, 0.08356200158596039, 16.923999786376953], [8.683320045471191, 0.08356200158596039, 16.70749282836914], [8.558320045471191, 0.08356200158596039, 16.490985870361328], [8.433320045471191, 0.08356200158596039, 16.274478912353516], [8.308320045471191, 0.08356200158596039, 16.057971954345703], [8.183320045471191, 0.08356200158596039, 15.841465950012207], [8.006543159484863, 0.08356200158596039, 15.664689064025879], [7.829766273498535, 0.08356200158596039, 15.48791217803955], [7.652989387512207, 0.08356200158596039, 15.311135292053223], [7.476212501525879, 0.08356200158596039, 15.134358406066895], [7.299435615539551, 0.08356200158596039, 14.957581520080566], [7.122658729553223, 0.08356200158596039, 14.780804634094238], [6.9458818435668945, 0.08356200158596039, 14.60402774810791], [6.769104957580566, 0.08356200158596039, 14.427250862121582], [6.592328071594238, 0.08356200158596039, 14.250473976135254], [6.41555118560791, 0.08356200158596039, 14.073697090148926], [6.238774299621582, 0.08356200158596039, 13.896920204162598], [6.061997413635254, 0.08356200158596039, 13.72014331817627], [5.885220527648926, 0.08356200158596039, 13.543366432189941], [5.708443641662598, 0.08356200158596039, 13.366589546203613], [5.5316667556762695, 0.08356200158596039, 13.189812660217285], [5.354889869689941, 0.08356200158596039, 13.013035774230957], [5.229889869689941, 0.08356200158596039, 12.796529769897461], [5.104889869689941, 0.08356200158596039, 12.580023765563965], [4.928112983703613, 0.08356200158596039, 12.403246879577637], [4.751336097717285, 0.08356200158596039, 12.226469993591309], [4.574559211730957, 0.08356200158596039, 12.04969310760498], [4.397782325744629, 0.08356200158596039, 11.872916221618652], [4.221005439758301, 0.08356200158596039, 11.696139335632324], [4.044228553771973, 0.08356200158596039, 11.519362449645996]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 191, "episode_id": "192", "scene_id": "ULsKaCPVFJR", "instruction": "Exit the closet, and walk through the bathroom. Wait near the suitcases in the dressing room. ", "start_position": [8.808320045471191, 0.08356200158596039, 16.923999786376953], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.8112900257110596, 0.08356200158596039, 11.247699737548828], "goal_radius": 3.0, "reference_path": "[[8.808320045471191, 0.08356200158596039, 16.923999786376953], [7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [3.8112900257110596, 0.08356200158596039, 11.247699737548828]]", "geodesic_distance": 7.597161293029785, "gt_locations": "[[8.808320045471191, 0.08356200158596039, 16.923999786376953], [8.683320045471191, 0.08356200158596039, 16.70749282836914], [8.558320045471191, 0.08356200158596039, 16.490985870361328], [8.433320045471191, 0.08356200158596039, 16.274478912353516], [8.308320045471191, 0.08356200158596039, 16.057971954345703], [8.183320045471191, 0.08356200158596039, 15.841465950012207], [8.006543159484863, 0.08356200158596039, 15.664689064025879], [7.829766273498535, 0.08356200158596039, 15.48791217803955], [7.652989387512207, 0.08356200158596039, 15.311135292053223], [7.476212501525879, 0.08356200158596039, 15.134358406066895], [7.299435615539551, 0.08356200158596039, 14.957581520080566], [7.122658729553223, 0.08356200158596039, 14.780804634094238], [6.9458818435668945, 0.08356200158596039, 14.60402774810791], [6.769104957580566, 0.08356200158596039, 14.427250862121582], [6.592328071594238, 0.08356200158596039, 14.250473976135254], [6.41555118560791, 0.08356200158596039, 14.073697090148926], [6.238774299621582, 0.08356200158596039, 13.896920204162598], [6.061997413635254, 0.08356200158596039, 13.72014331817627], [5.885220527648926, 0.08356200158596039, 13.543366432189941], [5.708443641662598, 0.08356200158596039, 13.366589546203613], [5.5316667556762695, 0.08356200158596039, 13.189812660217285], [5.354889869689941, 0.08356200158596039, 13.013035774230957], [5.229889869689941, 0.08356200158596039, 12.796529769897461], [5.104889869689941, 0.08356200158596039, 12.580023765563965], [4.928112983703613, 0.08356200158596039, 12.403246879577637], [4.751336097717285, 0.08356200158596039, 12.226469993591309], [4.574559211730957, 0.08356200158596039, 12.04969310760498], [4.397782325744629, 0.08356200158596039, 11.872916221618652], [4.221005439758301, 0.08356200158596039, 11.696139335632324], [4.044228553771973, 0.08356200158596039, 11.519362449645996]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 192, "episode_id": "193", "scene_id": "ULsKaCPVFJR", "instruction": "Exit the room and go past the sink and the tub, exit the bathroom and when you get to the dresser with two old suitcases wait there. ", "start_position": [8.808320045471191, 0.08356200158596039, 16.923999786376953], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.8112900257110596, 0.08356200158596039, 11.247699737548828], "goal_radius": 3.0, "reference_path": "[[8.808320045471191, 0.08356200158596039, 16.923999786376953], [7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [3.8112900257110596, 0.08356200158596039, 11.247699737548828]]", "geodesic_distance": 7.597161293029785, "gt_locations": "[[8.808320045471191, 0.08356200158596039, 16.923999786376953], [8.683320045471191, 0.08356200158596039, 16.70749282836914], [8.558320045471191, 0.08356200158596039, 16.490985870361328], [8.433320045471191, 0.08356200158596039, 16.274478912353516], [8.308320045471191, 0.08356200158596039, 16.057971954345703], [8.183320045471191, 0.08356200158596039, 15.841465950012207], [8.006543159484863, 0.08356200158596039, 15.664689064025879], [7.829766273498535, 0.08356200158596039, 15.48791217803955], [7.652989387512207, 0.08356200158596039, 15.311135292053223], [7.476212501525879, 0.08356200158596039, 15.134358406066895], [7.299435615539551, 0.08356200158596039, 14.957581520080566], [7.122658729553223, 0.08356200158596039, 14.780804634094238], [6.9458818435668945, 0.08356200158596039, 14.60402774810791], [6.769104957580566, 0.08356200158596039, 14.427250862121582], [6.592328071594238, 0.08356200158596039, 14.250473976135254], [6.41555118560791, 0.08356200158596039, 14.073697090148926], [6.238774299621582, 0.08356200158596039, 13.896920204162598], [6.061997413635254, 0.08356200158596039, 13.72014331817627], [5.885220527648926, 0.08356200158596039, 13.543366432189941], [5.708443641662598, 0.08356200158596039, 13.366589546203613], [5.5316667556762695, 0.08356200158596039, 13.189812660217285], [5.354889869689941, 0.08356200158596039, 13.013035774230957], [5.229889869689941, 0.08356200158596039, 12.796529769897461], [5.104889869689941, 0.08356200158596039, 12.580023765563965], [4.928112983703613, 0.08356200158596039, 12.403246879577637], [4.751336097717285, 0.08356200158596039, 12.226469993591309], [4.574559211730957, 0.08356200158596039, 12.04969310760498], [4.397782325744629, 0.08356200158596039, 11.872916221618652], [4.221005439758301, 0.08356200158596039, 11.696139335632324], [4.044228553771973, 0.08356200158596039, 11.519362449645996]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 193, "episode_id": "194", "scene_id": "E9uDoFAP3SH", "instruction": "You should go through the front door and go through the first entryway on the right. Once you go through the doorway walk to the carpet and wait. ", "start_position": [-0.3103170096874237, -5.955618858337402, -6.4711995124816895], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-6.318399906158447, -5.955618858337402, -2.5219500064849854], "goal_radius": 3.0, "reference_path": "[[-0.3103170096874237, -5.955618858337402, -6.4711995124816895], [-0.31454500555992126, -5.955618858337402, -4.936230182647705], [-3.125, -5.955618858337402, -2.526319980621338], [-4.752089977264404, -5.955618858337402, -2.5997400283813477], [-6.318399906158447, -5.955618858337402, -2.5219500064849854]]", "geodesic_distance": 7.66141414642334, "gt_locations": "[[-0.3103170096874237, -5.955618858337402, -6.4711995124816895], [-0.06031697988510132, -5.955618858337402, -6.4711995124816895], [0.022420883178710938, -5.955618858337402, -6.229718208312988], [-0.04228387773036957, -5.955618858337402, -5.988236904144287], [-0.10698863863945007, -5.955618858337402, -5.746755599975586], [-0.17169339954853058, -5.955618858337402, -5.505274295806885], [-0.23639816045761108, -5.955618858337402, -5.263792991638184], [-0.4131748676300049, -5.955618858337402, -5.0870161056518555], [-0.5899515748023987, -5.955618858337402, -4.910239219665527], [-0.7667282819747925, -5.955618858337402, -4.733462333679199], [-0.9435049891471863, -5.955618858337402, -4.556685447692871], [-1.12028169631958, -5.955618858337402, -4.379908561706543], [-1.2970584630966187, -5.955618858337402, -4.203131675720215], [-1.4738352298736572, -5.955618858337402, -4.026354789733887], [-1.6506119966506958, -5.955618858337402, -3.8495779037475586], [-1.8273887634277344, -5.955618858337402, -3.6728010177612305], [-2.0041654109954834, -5.955618858337402, -3.4960241317749023], [-2.1809420585632324, -5.955618858337402, -3.319247245788574], [-2.3577187061309814, -5.955618858337402, -3.142470359802246], [-2.5344953536987305, -5.955618858337402, -2.965693473815918], [-2.7112720012664795, -5.955618858337402, -2.78891658782959], [-2.9527535438537598, -5.955618858337402, -2.7242116928100586], [-3.2027535438537598, -5.955618858337402, -2.7242116928100586], [-3.4527535438537598, -5.955618858337402, -2.7242116928100586], [-3.7027535438537598, -5.955618858337402, -2.7242116928100586], [-3.9527535438537598, -5.955618858337402, -2.7242116928100586], [-4.20275354385376, -5.955618858337402, -2.7242116928100586], [-4.444234848022461, -5.955618858337402, -2.6595067977905273], [-4.694234848022461, -5.955618858337402, -2.6595067977905273], [-4.944234848022461, -5.955618858337402, -2.6595067977905273], [-5.194234848022461, -5.955618858337402, -2.6595067977905273], [-5.444234848022461, -5.955618858337402, -2.6595067977905273], [-5.694234848022461, -5.955618858337402, -2.6595067977905273], [-5.935716152191162, -5.955618858337402, -2.594802141189575]]", "gt_actions": "[3, 3, 1, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 194, "episode_id": "195", "scene_id": "E9uDoFAP3SH", "instruction": "turn around and enter the lobby. go to the right and through the door. stop right past the door. ", "start_position": [-0.3103170096874237, -5.955618858337402, -6.4711995124816895], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-6.318399906158447, -5.955618858337402, -2.5219500064849854], "goal_radius": 3.0, "reference_path": "[[-0.3103170096874237, -5.955618858337402, -6.4711995124816895], [-0.31454500555992126, -5.955618858337402, -4.936230182647705], [-3.125, -5.955618858337402, -2.526319980621338], [-4.752089977264404, -5.955618858337402, -2.5997400283813477], [-6.318399906158447, -5.955618858337402, -2.5219500064849854]]", "geodesic_distance": 7.66141414642334, "gt_locations": "[[-0.3103170096874237, -5.955618858337402, -6.4711995124816895], [-0.06031697988510132, -5.955618858337402, -6.4711995124816895], [0.022420883178710938, -5.955618858337402, -6.229718208312988], [-0.04228387773036957, -5.955618858337402, -5.988236904144287], [-0.10698863863945007, -5.955618858337402, -5.746755599975586], [-0.17169339954853058, -5.955618858337402, -5.505274295806885], [-0.23639816045761108, -5.955618858337402, -5.263792991638184], [-0.4131748676300049, -5.955618858337402, -5.0870161056518555], [-0.5899515748023987, -5.955618858337402, -4.910239219665527], [-0.7667282819747925, -5.955618858337402, -4.733462333679199], [-0.9435049891471863, -5.955618858337402, -4.556685447692871], [-1.12028169631958, -5.955618858337402, -4.379908561706543], [-1.2970584630966187, -5.955618858337402, -4.203131675720215], [-1.4738352298736572, -5.955618858337402, -4.026354789733887], [-1.6506119966506958, -5.955618858337402, -3.8495779037475586], [-1.8273887634277344, -5.955618858337402, -3.6728010177612305], [-2.0041654109954834, -5.955618858337402, -3.4960241317749023], [-2.1809420585632324, -5.955618858337402, -3.319247245788574], [-2.3577187061309814, -5.955618858337402, -3.142470359802246], [-2.5344953536987305, -5.955618858337402, -2.965693473815918], [-2.7112720012664795, -5.955618858337402, -2.78891658782959], [-2.9527535438537598, -5.955618858337402, -2.7242116928100586], [-3.2027535438537598, -5.955618858337402, -2.7242116928100586], [-3.4527535438537598, -5.955618858337402, -2.7242116928100586], [-3.7027535438537598, -5.955618858337402, -2.7242116928100586], [-3.9527535438537598, -5.955618858337402, -2.7242116928100586], [-4.20275354385376, -5.955618858337402, -2.7242116928100586], [-4.444234848022461, -5.955618858337402, -2.6595067977905273], [-4.694234848022461, -5.955618858337402, -2.6595067977905273], [-4.944234848022461, -5.955618858337402, -2.6595067977905273], [-5.194234848022461, -5.955618858337402, -2.6595067977905273], [-5.444234848022461, -5.955618858337402, -2.6595067977905273], [-5.694234848022461, -5.955618858337402, -2.6595067977905273], [-5.935716152191162, -5.955618858337402, -2.594802141189575]]", "gt_actions": "[3, 3, 1, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 195, "episode_id": "196", "scene_id": "E9uDoFAP3SH", "instruction": "Go indoors and turn right into the large room with the pink carpet. Wait there. ", "start_position": [-0.3103170096874237, -5.955618858337402, -6.4711995124816895], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-6.318399906158447, -5.955618858337402, -2.5219500064849854], "goal_radius": 3.0, "reference_path": "[[-0.3103170096874237, -5.955618858337402, -6.4711995124816895], [-0.31454500555992126, -5.955618858337402, -4.936230182647705], [-3.125, -5.955618858337402, -2.526319980621338], [-4.752089977264404, -5.955618858337402, -2.5997400283813477], [-6.318399906158447, -5.955618858337402, -2.5219500064849854]]", "geodesic_distance": 7.66141414642334, "gt_locations": "[[-0.3103170096874237, -5.955618858337402, -6.4711995124816895], [-0.06031697988510132, -5.955618858337402, -6.4711995124816895], [0.022420883178710938, -5.955618858337402, -6.229718208312988], [-0.04228387773036957, -5.955618858337402, -5.988236904144287], [-0.10698863863945007, -5.955618858337402, -5.746755599975586], [-0.17169339954853058, -5.955618858337402, -5.505274295806885], [-0.23639816045761108, -5.955618858337402, -5.263792991638184], [-0.4131748676300049, -5.955618858337402, -5.0870161056518555], [-0.5899515748023987, -5.955618858337402, -4.910239219665527], [-0.7667282819747925, -5.955618858337402, -4.733462333679199], [-0.9435049891471863, -5.955618858337402, -4.556685447692871], [-1.12028169631958, -5.955618858337402, -4.379908561706543], [-1.2970584630966187, -5.955618858337402, -4.203131675720215], [-1.4738352298736572, -5.955618858337402, -4.026354789733887], [-1.6506119966506958, -5.955618858337402, -3.8495779037475586], [-1.8273887634277344, -5.955618858337402, -3.6728010177612305], [-2.0041654109954834, -5.955618858337402, -3.4960241317749023], [-2.1809420585632324, -5.955618858337402, -3.319247245788574], [-2.3577187061309814, -5.955618858337402, -3.142470359802246], [-2.5344953536987305, -5.955618858337402, -2.965693473815918], [-2.7112720012664795, -5.955618858337402, -2.78891658782959], [-2.9527535438537598, -5.955618858337402, -2.7242116928100586], [-3.2027535438537598, -5.955618858337402, -2.7242116928100586], [-3.4527535438537598, -5.955618858337402, -2.7242116928100586], [-3.7027535438537598, -5.955618858337402, -2.7242116928100586], [-3.9527535438537598, -5.955618858337402, -2.7242116928100586], [-4.20275354385376, -5.955618858337402, -2.7242116928100586], [-4.444234848022461, -5.955618858337402, -2.6595067977905273], [-4.694234848022461, -5.955618858337402, -2.6595067977905273], [-4.944234848022461, -5.955618858337402, -2.6595067977905273], [-5.194234848022461, -5.955618858337402, -2.6595067977905273], [-5.444234848022461, -5.955618858337402, -2.6595067977905273], [-5.694234848022461, -5.955618858337402, -2.6595067977905273], [-5.935716152191162, -5.955618858337402, -2.594802141189575]]", "gt_actions": "[3, 3, 1, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 196, "episode_id": "197", "scene_id": "7y3sRwLe3Va", "instruction": "Walk through the door towards the hallway. Take a right and wait at the end of the hallway. ", "start_position": [-14.080699920654297, 3.151840925216675, 8.594499588012695], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-5.445310115814209, 3.151840925216675, 5.760000228881836], "goal_radius": 3.0, "reference_path": "[[-14.080699920654297, 3.151840925216675, 8.594499588012695], [-14.04699993133545, 3.151840925216675, 6.504580020904541], [-11.825400352478027, 3.151840925216675, 5.676829814910889], [-8.768969535827637, 3.151840925216675, 5.8336100578308105], [-7.196879863739014, 3.151840925216675, 5.762849807739258], [-6.346419811248779, 3.151840925216675, 5.900569915771484], [-5.445310115814209, 3.151840925216675, 5.760000228881836]]", "geodesic_distance": 10.627687454223633, "gt_locations": "[[-14.080699920654297, 3.151840925216675, 8.594499588012695], [-14.080699920654297, 3.151840925216675, 8.344499588012695], [-14.080699920654297, 3.151840925216675, 8.094499588012695], [-14.080699920654297, 3.151840925216675, 7.844499588012695], [-14.080699920654297, 3.151840925216675, 7.594499588012695], [-14.080699920654297, 3.151840925216675, 7.344499588012695], [-14.080699920654297, 3.151840925216675, 7.094499588012695], [-14.080699920654297, 3.151840925216675, 6.844499588012695], [-13.955699920654297, 3.151840925216675, 6.627993106842041], [-13.830699920654297, 3.151840925216675, 6.411486625671387], [-13.588031768798828, 3.151840925216675, 6.2886576652526855], [-13.346549987792969, 3.151840925216675, 6.223952770233154], [-13.10506820678711, 3.151840925216675, 6.159247875213623], [-12.86358642578125, 3.151840925216675, 6.094542980194092], [-12.62210464477539, 3.151840925216675, 6.0298380851745605], [-12.380622863769531, 3.151840925216675, 5.965133190155029], [-12.164116859436035, 3.151840925216675, 5.840133190155029], [-11.914116859436035, 3.151840925216675, 5.840133190155029], [-11.664116859436035, 3.151840925216675, 5.840133190155029], [-11.414116859436035, 3.151840925216675, 5.840133190155029], [-11.164116859436035, 3.151840925216675, 5.840133190155029], [-10.914116859436035, 3.151840925216675, 5.840133190155029], [-10.664116859436035, 3.151840925216675, 5.840133190155029], [-10.414116859436035, 3.151840925216675, 5.840133190155029], [-10.164116859436035, 3.151840925216675, 5.840133190155029], [-9.914116859436035, 3.151840925216675, 5.840133190155029], [-9.664116859436035, 3.151840925216675, 5.840133190155029], [-9.414116859436035, 3.151840925216675, 5.840133190155029], [-9.164116859436035, 3.151840925216675, 5.840133190155029], [-8.914116859436035, 3.151840925216675, 5.840133190155029], [-8.664116859436035, 3.151840925216675, 5.840133190155029], [-8.414116859436035, 3.151840925216675, 5.840133190155029], [-8.164116859436035, 3.151840925216675, 5.840133190155029], [-7.914116859436035, 3.151840925216675, 5.840133190155029], [-7.664116859436035, 3.151840925216675, 5.840133190155029], [-7.414116859436035, 3.151840925216675, 5.840133190155029], [-7.164116859436035, 3.151840925216675, 5.840133190155029], [-6.914116859436035, 3.151840925216675, 5.840133190155029], [-6.664116859436035, 3.151840925216675, 5.840133190155029], [-6.414116859436035, 3.151840925216675, 5.840133190155029], [-6.164116859436035, 3.151840925216675, 5.840133190155029], [-5.914116859436035, 3.151840925216675, 5.840133190155029]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 197, "episode_id": "198", "scene_id": "7y3sRwLe3Va", "instruction": "Walk forward trough the doorway, then turn right. Stop in the next doorway. ", "start_position": [-14.080699920654297, 3.151840925216675, 8.594499588012695], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-5.445310115814209, 3.151840925216675, 5.760000228881836], "goal_radius": 3.0, "reference_path": "[[-14.080699920654297, 3.151840925216675, 8.594499588012695], [-14.04699993133545, 3.151840925216675, 6.504580020904541], [-11.825400352478027, 3.151840925216675, 5.676829814910889], [-8.768969535827637, 3.151840925216675, 5.8336100578308105], [-7.196879863739014, 3.151840925216675, 5.762849807739258], [-6.346419811248779, 3.151840925216675, 5.900569915771484], [-5.445310115814209, 3.151840925216675, 5.760000228881836]]", "geodesic_distance": 10.627687454223633, "gt_locations": "[[-14.080699920654297, 3.151840925216675, 8.594499588012695], [-14.080699920654297, 3.151840925216675, 8.344499588012695], [-14.080699920654297, 3.151840925216675, 8.094499588012695], [-14.080699920654297, 3.151840925216675, 7.844499588012695], [-14.080699920654297, 3.151840925216675, 7.594499588012695], [-14.080699920654297, 3.151840925216675, 7.344499588012695], [-14.080699920654297, 3.151840925216675, 7.094499588012695], [-14.080699920654297, 3.151840925216675, 6.844499588012695], [-13.955699920654297, 3.151840925216675, 6.627993106842041], [-13.830699920654297, 3.151840925216675, 6.411486625671387], [-13.588031768798828, 3.151840925216675, 6.2886576652526855], [-13.346549987792969, 3.151840925216675, 6.223952770233154], [-13.10506820678711, 3.151840925216675, 6.159247875213623], [-12.86358642578125, 3.151840925216675, 6.094542980194092], [-12.62210464477539, 3.151840925216675, 6.0298380851745605], [-12.380622863769531, 3.151840925216675, 5.965133190155029], [-12.164116859436035, 3.151840925216675, 5.840133190155029], [-11.914116859436035, 3.151840925216675, 5.840133190155029], [-11.664116859436035, 3.151840925216675, 5.840133190155029], [-11.414116859436035, 3.151840925216675, 5.840133190155029], [-11.164116859436035, 3.151840925216675, 5.840133190155029], [-10.914116859436035, 3.151840925216675, 5.840133190155029], [-10.664116859436035, 3.151840925216675, 5.840133190155029], [-10.414116859436035, 3.151840925216675, 5.840133190155029], [-10.164116859436035, 3.151840925216675, 5.840133190155029], [-9.914116859436035, 3.151840925216675, 5.840133190155029], [-9.664116859436035, 3.151840925216675, 5.840133190155029], [-9.414116859436035, 3.151840925216675, 5.840133190155029], [-9.164116859436035, 3.151840925216675, 5.840133190155029], [-8.914116859436035, 3.151840925216675, 5.840133190155029], [-8.664116859436035, 3.151840925216675, 5.840133190155029], [-8.414116859436035, 3.151840925216675, 5.840133190155029], [-8.164116859436035, 3.151840925216675, 5.840133190155029], [-7.914116859436035, 3.151840925216675, 5.840133190155029], [-7.664116859436035, 3.151840925216675, 5.840133190155029], [-7.414116859436035, 3.151840925216675, 5.840133190155029], [-7.164116859436035, 3.151840925216675, 5.840133190155029], [-6.914116859436035, 3.151840925216675, 5.840133190155029], [-6.664116859436035, 3.151840925216675, 5.840133190155029], [-6.414116859436035, 3.151840925216675, 5.840133190155029], [-6.164116859436035, 3.151840925216675, 5.840133190155029], [-5.914116859436035, 3.151840925216675, 5.840133190155029]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 198, "episode_id": "199", "scene_id": "7y3sRwLe3Va", "instruction": "Exit the door on the right. Once in the hallway, turn right and walk all the way down the hallway and stop in the doorway straight in front of you. ", "start_position": [-14.080699920654297, 3.151840925216675, 8.594499588012695], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-5.445310115814209, 3.151840925216675, 5.760000228881836], "goal_radius": 3.0, "reference_path": "[[-14.080699920654297, 3.151840925216675, 8.594499588012695], [-14.04699993133545, 3.151840925216675, 6.504580020904541], [-11.825400352478027, 3.151840925216675, 5.676829814910889], [-8.768969535827637, 3.151840925216675, 5.8336100578308105], [-7.196879863739014, 3.151840925216675, 5.762849807739258], [-6.346419811248779, 3.151840925216675, 5.900569915771484], [-5.445310115814209, 3.151840925216675, 5.760000228881836]]", "geodesic_distance": 10.627687454223633, "gt_locations": "[[-14.080699920654297, 3.151840925216675, 8.594499588012695], [-14.080699920654297, 3.151840925216675, 8.344499588012695], [-14.080699920654297, 3.151840925216675, 8.094499588012695], [-14.080699920654297, 3.151840925216675, 7.844499588012695], [-14.080699920654297, 3.151840925216675, 7.594499588012695], [-14.080699920654297, 3.151840925216675, 7.344499588012695], [-14.080699920654297, 3.151840925216675, 7.094499588012695], [-14.080699920654297, 3.151840925216675, 6.844499588012695], [-13.955699920654297, 3.151840925216675, 6.627993106842041], [-13.830699920654297, 3.151840925216675, 6.411486625671387], [-13.588031768798828, 3.151840925216675, 6.2886576652526855], [-13.346549987792969, 3.151840925216675, 6.223952770233154], [-13.10506820678711, 3.151840925216675, 6.159247875213623], [-12.86358642578125, 3.151840925216675, 6.094542980194092], [-12.62210464477539, 3.151840925216675, 6.0298380851745605], [-12.380622863769531, 3.151840925216675, 5.965133190155029], [-12.164116859436035, 3.151840925216675, 5.840133190155029], [-11.914116859436035, 3.151840925216675, 5.840133190155029], [-11.664116859436035, 3.151840925216675, 5.840133190155029], [-11.414116859436035, 3.151840925216675, 5.840133190155029], [-11.164116859436035, 3.151840925216675, 5.840133190155029], [-10.914116859436035, 3.151840925216675, 5.840133190155029], [-10.664116859436035, 3.151840925216675, 5.840133190155029], [-10.414116859436035, 3.151840925216675, 5.840133190155029], [-10.164116859436035, 3.151840925216675, 5.840133190155029], [-9.914116859436035, 3.151840925216675, 5.840133190155029], [-9.664116859436035, 3.151840925216675, 5.840133190155029], [-9.414116859436035, 3.151840925216675, 5.840133190155029], [-9.164116859436035, 3.151840925216675, 5.840133190155029], [-8.914116859436035, 3.151840925216675, 5.840133190155029], [-8.664116859436035, 3.151840925216675, 5.840133190155029], [-8.414116859436035, 3.151840925216675, 5.840133190155029], [-8.164116859436035, 3.151840925216675, 5.840133190155029], [-7.914116859436035, 3.151840925216675, 5.840133190155029], [-7.664116859436035, 3.151840925216675, 5.840133190155029], [-7.414116859436035, 3.151840925216675, 5.840133190155029], [-7.164116859436035, 3.151840925216675, 5.840133190155029], [-6.914116859436035, 3.151840925216675, 5.840133190155029], [-6.664116859436035, 3.151840925216675, 5.840133190155029], [-6.414116859436035, 3.151840925216675, 5.840133190155029], [-6.164116859436035, 3.151840925216675, 5.840133190155029], [-5.914116859436035, 3.151840925216675, 5.840133190155029]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 199, "episode_id": "200", "scene_id": "1LXtFkjw3qL", "instruction": "Exit the bathroom, walk past the beds and wait in the doorway to the hall. ", "start_position": [0.3936249911785126, 3.4844110012054443, 15.143199920654297], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.4133299589157104, 3.4844110012054443, 5.161220073699951], "goal_radius": 3.0, "reference_path": "[[0.3936249911785126, 3.4844110012054443, 15.143199920654297], [1.4536499977111816, 3.4844110012054443, 13.965299606323242], [1.6139899492263794, 3.5407681465148926, 11.317000389099121], [1.3479100465774536, 3.4844110012054443, 9.291299819946289], [1.2933000326156616, 3.4847466945648193, 7.1087799072265625], [1.4133299589157104, 3.4844110012054443, 5.161220073699951]]", "geodesic_distance": 10.189275741577148, "gt_locations": "[[0.3936249911785126, 3.4844110012054443, 15.143199920654297], [0.6101313829421997, 3.4844110012054443, 15.018199920654297], [0.7869080901145935, 3.4844110012054443, 14.841423034667969], [0.9636847972869873, 3.4844110012054443, 14.66464614868164], [1.0886847972869873, 3.4844110012054443, 14.448140144348145], [1.2136847972869873, 3.4844110012054443, 14.231634140014648], [1.278389573097229, 3.4844110012054443, 13.990152359008789], [1.3430943489074707, 3.4844110012054443, 13.74867057800293], [1.4077991247177124, 3.566821575164795, 13.50718879699707], [1.472503900527954, 3.566493034362793, 13.265707015991211], [1.472503900527954, 3.566493034362793, 13.015707015991211], [1.472503900527954, 3.566493034362793, 12.765707015991211], [1.472503900527954, 3.566493034362793, 12.515707015991211], [1.472503900527954, 3.566493034362793, 12.265707015991211], [1.472503900527954, 3.566493034362793, 12.015707015991211], [1.5372086763381958, 3.5547285079956055, 11.774225234985352], [1.5372086763381958, 3.5547285079956055, 11.524225234985352], [1.5372086763381958, 3.5547285079956055, 11.274225234985352], [1.5372086763381958, 3.5547285079956055, 11.024225234985352], [1.5372086763381958, 3.5547285079956055, 10.774225234985352], [1.5372086763381958, 3.5547285079956055, 10.524225234985352], [1.5372086763381958, 3.554429292678833, 10.274225234985352], [1.472503900527954, 3.515465497970581, 10.032743453979492], [1.4077991247177124, 3.4844110012054443, 9.791261672973633], [1.3430943489074707, 3.4844110012054443, 9.549779891967773], [1.3430943489074707, 3.4844110012054443, 9.299779891967773], [1.3430943489074707, 3.4844110012054443, 9.049779891967773], [1.3430943489074707, 3.4844110012054443, 8.799779891967773], [1.3430943489074707, 3.4844110012054443, 8.549779891967773], [1.3430943489074707, 3.4844110012054443, 8.299779891967773], [1.3430943489074707, 3.4844110012054443, 8.049779891967773], [1.3430943489074707, 3.4844110012054443, 7.799779891967773], [1.3430943489074707, 3.4844110012054443, 7.549779891967773], [1.3430943489074707, 3.4844110012054443, 7.299779891967773], [1.3430943489074707, 3.4844110012054443, 7.049779891967773], [1.3430943489074707, 3.5444984436035156, 6.799779891967773], [1.3430943489074707, 3.516409397125244, 6.549779891967773], [1.3430943489074707, 3.5038809776306152, 6.299779891967773], [1.3430943489074707, 3.4913525581359863, 6.049779891967773], [1.3430943489074707, 3.4844110012054443, 5.799779891967773], [1.3430943489074707, 3.4844110012054443, 5.549779891967773]]", "gt_actions": "[2, 2, 2, 2, 1, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 200, "episode_id": "201", "scene_id": "1LXtFkjw3qL", "instruction": "Turn left and go past the bed and past the long couch.  Go to and stop at the doorway on the right. ", "start_position": [0.3936249911785126, 3.4844110012054443, 15.143199920654297], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.4133299589157104, 3.4844110012054443, 5.161220073699951], "goal_radius": 3.0, "reference_path": "[[0.3936249911785126, 3.4844110012054443, 15.143199920654297], [1.4536499977111816, 3.4844110012054443, 13.965299606323242], [1.6139899492263794, 3.5407681465148926, 11.317000389099121], [1.3479100465774536, 3.4844110012054443, 9.291299819946289], [1.2933000326156616, 3.4847466945648193, 7.1087799072265625], [1.4133299589157104, 3.4844110012054443, 5.161220073699951]]", "geodesic_distance": 10.189275741577148, "gt_locations": "[[0.3936249911785126, 3.4844110012054443, 15.143199920654297], [0.6101313829421997, 3.4844110012054443, 15.018199920654297], [0.7869080901145935, 3.4844110012054443, 14.841423034667969], [0.9636847972869873, 3.4844110012054443, 14.66464614868164], [1.0886847972869873, 3.4844110012054443, 14.448140144348145], [1.2136847972869873, 3.4844110012054443, 14.231634140014648], [1.278389573097229, 3.4844110012054443, 13.990152359008789], [1.3430943489074707, 3.4844110012054443, 13.74867057800293], [1.4077991247177124, 3.566821575164795, 13.50718879699707], [1.472503900527954, 3.566493034362793, 13.265707015991211], [1.472503900527954, 3.566493034362793, 13.015707015991211], [1.472503900527954, 3.566493034362793, 12.765707015991211], [1.472503900527954, 3.566493034362793, 12.515707015991211], [1.472503900527954, 3.566493034362793, 12.265707015991211], [1.472503900527954, 3.566493034362793, 12.015707015991211], [1.5372086763381958, 3.5547285079956055, 11.774225234985352], [1.5372086763381958, 3.5547285079956055, 11.524225234985352], [1.5372086763381958, 3.5547285079956055, 11.274225234985352], [1.5372086763381958, 3.5547285079956055, 11.024225234985352], [1.5372086763381958, 3.5547285079956055, 10.774225234985352], [1.5372086763381958, 3.5547285079956055, 10.524225234985352], [1.5372086763381958, 3.554429292678833, 10.274225234985352], [1.472503900527954, 3.515465497970581, 10.032743453979492], [1.4077991247177124, 3.4844110012054443, 9.791261672973633], [1.3430943489074707, 3.4844110012054443, 9.549779891967773], [1.3430943489074707, 3.4844110012054443, 9.299779891967773], [1.3430943489074707, 3.4844110012054443, 9.049779891967773], [1.3430943489074707, 3.4844110012054443, 8.799779891967773], [1.3430943489074707, 3.4844110012054443, 8.549779891967773], [1.3430943489074707, 3.4844110012054443, 8.299779891967773], [1.3430943489074707, 3.4844110012054443, 8.049779891967773], [1.3430943489074707, 3.4844110012054443, 7.799779891967773], [1.3430943489074707, 3.4844110012054443, 7.549779891967773], [1.3430943489074707, 3.4844110012054443, 7.299779891967773], [1.3430943489074707, 3.4844110012054443, 7.049779891967773], [1.3430943489074707, 3.5444984436035156, 6.799779891967773], [1.3430943489074707, 3.516409397125244, 6.549779891967773], [1.3430943489074707, 3.5038809776306152, 6.299779891967773], [1.3430943489074707, 3.4913525581359863, 6.049779891967773], [1.3430943489074707, 3.4844110012054443, 5.799779891967773], [1.3430943489074707, 3.4844110012054443, 5.549779891967773]]", "gt_actions": "[2, 2, 2, 2, 1, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 201, "episode_id": "202", "scene_id": "1LXtFkjw3qL", "instruction": "Exit and turn left. Walk straight passing the bed, and the cream sofa ahead of it. Walk towards the door that is in front of you and stop there. ", "start_position": [0.3936249911785126, 3.4844110012054443, 15.143199920654297], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.4133299589157104, 3.4844110012054443, 5.161220073699951], "goal_radius": 3.0, "reference_path": "[[0.3936249911785126, 3.4844110012054443, 15.143199920654297], [1.4536499977111816, 3.4844110012054443, 13.965299606323242], [1.6139899492263794, 3.5407681465148926, 11.317000389099121], [1.3479100465774536, 3.4844110012054443, 9.291299819946289], [1.2933000326156616, 3.4847466945648193, 7.1087799072265625], [1.4133299589157104, 3.4844110012054443, 5.161220073699951]]", "geodesic_distance": 10.189275741577148, "gt_locations": "[[0.3936249911785126, 3.4844110012054443, 15.143199920654297], [0.6101313829421997, 3.4844110012054443, 15.018199920654297], [0.7869080901145935, 3.4844110012054443, 14.841423034667969], [0.9636847972869873, 3.4844110012054443, 14.66464614868164], [1.0886847972869873, 3.4844110012054443, 14.448140144348145], [1.2136847972869873, 3.4844110012054443, 14.231634140014648], [1.278389573097229, 3.4844110012054443, 13.990152359008789], [1.3430943489074707, 3.4844110012054443, 13.74867057800293], [1.4077991247177124, 3.566821575164795, 13.50718879699707], [1.472503900527954, 3.566493034362793, 13.265707015991211], [1.472503900527954, 3.566493034362793, 13.015707015991211], [1.472503900527954, 3.566493034362793, 12.765707015991211], [1.472503900527954, 3.566493034362793, 12.515707015991211], [1.472503900527954, 3.566493034362793, 12.265707015991211], [1.472503900527954, 3.566493034362793, 12.015707015991211], [1.5372086763381958, 3.5547285079956055, 11.774225234985352], [1.5372086763381958, 3.5547285079956055, 11.524225234985352], [1.5372086763381958, 3.5547285079956055, 11.274225234985352], [1.5372086763381958, 3.5547285079956055, 11.024225234985352], [1.5372086763381958, 3.5547285079956055, 10.774225234985352], [1.5372086763381958, 3.5547285079956055, 10.524225234985352], [1.5372086763381958, 3.554429292678833, 10.274225234985352], [1.472503900527954, 3.515465497970581, 10.032743453979492], [1.4077991247177124, 3.4844110012054443, 9.791261672973633], [1.3430943489074707, 3.4844110012054443, 9.549779891967773], [1.3430943489074707, 3.4844110012054443, 9.299779891967773], [1.3430943489074707, 3.4844110012054443, 9.049779891967773], [1.3430943489074707, 3.4844110012054443, 8.799779891967773], [1.3430943489074707, 3.4844110012054443, 8.549779891967773], [1.3430943489074707, 3.4844110012054443, 8.299779891967773], [1.3430943489074707, 3.4844110012054443, 8.049779891967773], [1.3430943489074707, 3.4844110012054443, 7.799779891967773], [1.3430943489074707, 3.4844110012054443, 7.549779891967773], [1.3430943489074707, 3.4844110012054443, 7.299779891967773], [1.3430943489074707, 3.4844110012054443, 7.049779891967773], [1.3430943489074707, 3.5444984436035156, 6.799779891967773], [1.3430943489074707, 3.516409397125244, 6.549779891967773], [1.3430943489074707, 3.5038809776306152, 6.299779891967773], [1.3430943489074707, 3.4913525581359863, 6.049779891967773], [1.3430943489074707, 3.4844110012054443, 5.799779891967773], [1.3430943489074707, 3.4844110012054443, 5.549779891967773]]", "gt_actions": "[2, 2, 2, 2, 1, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 202, "episode_id": "203", "scene_id": "Pm6F8kyY3z2", "instruction": "Go up the three steps then pass the bed and go out the door on your left then wait there. ", "start_position": [1.2342300415039062, -0.44453972578048706, 1.940659999847412], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.1123600006103516, 0.08912014961242676, -6.453770160675049], "goal_radius": 3.0, "reference_path": "[[1.2342300415039062, -0.44453972578048706, 1.940659999847412], [-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-3.1123600006103516, 0.08912014961242676, -6.453770160675049]]", "geodesic_distance": 9.468056678771973, "gt_locations": "[[1.2342300415039062, -0.44453972578048706, 1.940659999847412], [1.0574533939361572, -0.3859384059906006, 1.763883352279663], [0.9324533939361572, -0.3632735013961792, 1.5473769903182983], [0.8074533939361572, -0.31181296706199646, 1.3308706283569336], [0.6824533939361572, -0.26035240292549133, 1.1143642663955688], [0.5574533939361572, -0.14401815831661224, 0.8978579044342041], [0.4324533939361572, -0.004516005516052246, 0.6813515424728394], [0.3074533939361572, 0.11721058189868927, 0.4648451805114746], [0.18245339393615723, 0.2223517894744873, 0.24833883345127106], [0.05745339393615723, 0.27653220295906067, 0.031832486391067505], [-0.06754660606384277, 0.24567148089408875, -0.18467386066913605], [-0.19254660606384277, 0.21481077373027802, -0.4011802077293396], [-0.3175466060638428, 0.18395006656646729, -0.6176865696907043], [-0.4425466060638428, 0.15308935940265656, -0.8341929316520691], [-0.5675466060638428, 0.12222865223884583, -1.050699234008789], [-0.6925466060638428, 0.0913679376244545, -1.2672055959701538], [-0.8175466060638428, 0.08912014961242676, -1.4837119579315186], [-0.9425466060638428, 0.08912014961242676, -1.7002183198928833], [-1.0675466060638428, 0.08912014961242676, -1.916724681854248], [-1.1925466060638428, 0.08912014961242676, -2.1332309246063232], [-1.3175466060638428, 0.08912014961242676, -2.3497371673583984], [-1.4425466060638428, 0.08912014961242676, -2.5662434101104736], [-1.5675466060638428, 0.08912014961242676, -2.782749652862549], [-1.6322513818740845, 0.08912014961242676, -3.024231195449829], [-1.6969561576843262, 0.08912014961242676, -3.2657127380371094], [-1.7616609334945679, 0.08912014961242676, -3.5071942806243896], [-1.8263657093048096, 0.08912014961242676, -3.74867582321167], [-1.9513657093048096, 0.08912014961242676, -3.965182065963745], [-2.0763657093048096, 0.08912014961242676, -4.18168830871582], [-2.2013657093048096, 0.08912014961242676, -4.398194789886475], [-2.3263657093048096, 0.08912014961242676, -4.614701271057129], [-2.4513657093048096, 0.08912014961242676, -4.831207752227783], [-2.5763657093048096, 0.08912014961242676, -5.0477142333984375], [-2.7013657093048096, 0.08912014961242676, -5.264220714569092], [-2.8263657093048096, 0.08912014961242676, -5.480727195739746], [-2.8910703659057617, 0.08912014961242676, -5.722208499908447], [-2.955775022506714, 0.08912014961242676, -5.963689804077148], [-3.020479679107666, 0.08912014961242676, -6.20517110824585]]", "gt_actions": "[3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 203, "episode_id": "204", "scene_id": "Pm6F8kyY3z2", "instruction": "Go into the bedroom. Go through the door on the left into the bathroom. Stop in the doorway to the bathroom. ", "start_position": [1.2342300415039062, -0.44453972578048706, 1.940659999847412], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.1123600006103516, 0.08912014961242676, -6.453770160675049], "goal_radius": 3.0, "reference_path": "[[1.2342300415039062, -0.44453972578048706, 1.940659999847412], [-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-3.1123600006103516, 0.08912014961242676, -6.453770160675049]]", "geodesic_distance": 9.468056678771973, "gt_locations": "[[1.2342300415039062, -0.44453972578048706, 1.940659999847412], [1.0574533939361572, -0.3859384059906006, 1.763883352279663], [0.9324533939361572, -0.3632735013961792, 1.5473769903182983], [0.8074533939361572, -0.31181296706199646, 1.3308706283569336], [0.6824533939361572, -0.26035240292549133, 1.1143642663955688], [0.5574533939361572, -0.14401815831661224, 0.8978579044342041], [0.4324533939361572, -0.004516005516052246, 0.6813515424728394], [0.3074533939361572, 0.11721058189868927, 0.4648451805114746], [0.18245339393615723, 0.2223517894744873, 0.24833883345127106], [0.05745339393615723, 0.27653220295906067, 0.031832486391067505], [-0.06754660606384277, 0.24567148089408875, -0.18467386066913605], [-0.19254660606384277, 0.21481077373027802, -0.4011802077293396], [-0.3175466060638428, 0.18395006656646729, -0.6176865696907043], [-0.4425466060638428, 0.15308935940265656, -0.8341929316520691], [-0.5675466060638428, 0.12222865223884583, -1.050699234008789], [-0.6925466060638428, 0.0913679376244545, -1.2672055959701538], [-0.8175466060638428, 0.08912014961242676, -1.4837119579315186], [-0.9425466060638428, 0.08912014961242676, -1.7002183198928833], [-1.0675466060638428, 0.08912014961242676, -1.916724681854248], [-1.1925466060638428, 0.08912014961242676, -2.1332309246063232], [-1.3175466060638428, 0.08912014961242676, -2.3497371673583984], [-1.4425466060638428, 0.08912014961242676, -2.5662434101104736], [-1.5675466060638428, 0.08912014961242676, -2.782749652862549], [-1.6322513818740845, 0.08912014961242676, -3.024231195449829], [-1.6969561576843262, 0.08912014961242676, -3.2657127380371094], [-1.7616609334945679, 0.08912014961242676, -3.5071942806243896], [-1.8263657093048096, 0.08912014961242676, -3.74867582321167], [-1.9513657093048096, 0.08912014961242676, -3.965182065963745], [-2.0763657093048096, 0.08912014961242676, -4.18168830871582], [-2.2013657093048096, 0.08912014961242676, -4.398194789886475], [-2.3263657093048096, 0.08912014961242676, -4.614701271057129], [-2.4513657093048096, 0.08912014961242676, -4.831207752227783], [-2.5763657093048096, 0.08912014961242676, -5.0477142333984375], [-2.7013657093048096, 0.08912014961242676, -5.264220714569092], [-2.8263657093048096, 0.08912014961242676, -5.480727195739746], [-2.8910703659057617, 0.08912014961242676, -5.722208499908447], [-2.955775022506714, 0.08912014961242676, -5.963689804077148], [-3.020479679107666, 0.08912014961242676, -6.20517110824585]]", "gt_actions": "[3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 204, "episode_id": "205", "scene_id": "Pm6F8kyY3z2", "instruction": "Walk up the stairs and past the left side of the bed.  Stop in the doorway of the door near the nightstand. ", "start_position": [1.2342300415039062, -0.44453972578048706, 1.940659999847412], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.1123600006103516, 0.08912014961242676, -6.453770160675049], "goal_radius": 3.0, "reference_path": "[[1.2342300415039062, -0.44453972578048706, 1.940659999847412], [-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-3.1123600006103516, 0.08912014961242676, -6.453770160675049]]", "geodesic_distance": 9.468056678771973, "gt_locations": "[[1.2342300415039062, -0.44453972578048706, 1.940659999847412], [1.0574533939361572, -0.3859384059906006, 1.763883352279663], [0.9324533939361572, -0.3632735013961792, 1.5473769903182983], [0.8074533939361572, -0.31181296706199646, 1.3308706283569336], [0.6824533939361572, -0.26035240292549133, 1.1143642663955688], [0.5574533939361572, -0.14401815831661224, 0.8978579044342041], [0.4324533939361572, -0.004516005516052246, 0.6813515424728394], [0.3074533939361572, 0.11721058189868927, 0.4648451805114746], [0.18245339393615723, 0.2223517894744873, 0.24833883345127106], [0.05745339393615723, 0.27653220295906067, 0.031832486391067505], [-0.06754660606384277, 0.24567148089408875, -0.18467386066913605], [-0.19254660606384277, 0.21481077373027802, -0.4011802077293396], [-0.3175466060638428, 0.18395006656646729, -0.6176865696907043], [-0.4425466060638428, 0.15308935940265656, -0.8341929316520691], [-0.5675466060638428, 0.12222865223884583, -1.050699234008789], [-0.6925466060638428, 0.0913679376244545, -1.2672055959701538], [-0.8175466060638428, 0.08912014961242676, -1.4837119579315186], [-0.9425466060638428, 0.08912014961242676, -1.7002183198928833], [-1.0675466060638428, 0.08912014961242676, -1.916724681854248], [-1.1925466060638428, 0.08912014961242676, -2.1332309246063232], [-1.3175466060638428, 0.08912014961242676, -2.3497371673583984], [-1.4425466060638428, 0.08912014961242676, -2.5662434101104736], [-1.5675466060638428, 0.08912014961242676, -2.782749652862549], [-1.6322513818740845, 0.08912014961242676, -3.024231195449829], [-1.6969561576843262, 0.08912014961242676, -3.2657127380371094], [-1.7616609334945679, 0.08912014961242676, -3.5071942806243896], [-1.8263657093048096, 0.08912014961242676, -3.74867582321167], [-1.9513657093048096, 0.08912014961242676, -3.965182065963745], [-2.0763657093048096, 0.08912014961242676, -4.18168830871582], [-2.2013657093048096, 0.08912014961242676, -4.398194789886475], [-2.3263657093048096, 0.08912014961242676, -4.614701271057129], [-2.4513657093048096, 0.08912014961242676, -4.831207752227783], [-2.5763657093048096, 0.08912014961242676, -5.0477142333984375], [-2.7013657093048096, 0.08912014961242676, -5.264220714569092], [-2.8263657093048096, 0.08912014961242676, -5.480727195739746], [-2.8910703659057617, 0.08912014961242676, -5.722208499908447], [-2.955775022506714, 0.08912014961242676, -5.963689804077148], [-3.020479679107666, 0.08912014961242676, -6.20517110824585]]", "gt_actions": "[3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 205, "episode_id": "206", "scene_id": "S9hNv5qa7GM", "instruction": "Exit the bathroom and turn left.  Head through the entrance room into the living room.  Stop in front of the rug under the two red coaches. ", "start_position": [-9.678290367126465, 0.11627800017595291, -4.749460220336914], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-5.442669868469238, 0.11627800017595291, -3.1675500869750977], "goal_radius": 3.0, "reference_path": "[[-9.678290367126465, 0.11627800017595291, -4.749460220336914], [-9.58633041381836, 0.11627800017595291, -2.9691898822784424], [-8.671730041503906, 0.11627800017595291, -1.5494400262832642], [-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-5.442669868469238, 0.11627800017595291, -3.1675500869750977]]", "geodesic_distance": 6.620161056518555, "gt_locations": "[[-9.678290367126465, 0.11627800017595291, -4.749460220336914], [-9.678290367126465, 0.11627800017595291, -4.499460220336914], [-9.678290367126465, 0.11627800017595291, -4.249460220336914], [-9.678290367126465, 0.11627800017595291, -3.999460220336914], [-9.678290367126465, 0.11627800017595291, -3.749460220336914], [-9.678290367126465, 0.11627800017595291, -3.499460220336914], [-9.613585472106934, 0.11627800017595291, -3.257978677749634], [-9.548880577087402, 0.11627800017595291, -3.0164971351623535], [-9.484175682067871, 0.11627800017595291, -2.7750155925750732], [-9.41947078704834, 0.11627800017595291, -2.533534049987793], [-9.29447078704834, 0.11627800017595291, -2.3170275688171387], [-9.127167701721191, 0.11627800017595291, -2.1118292808532715], [-8.950390815734863, 0.11627800017595291, -1.9350526332855225], [-8.708909034729004, 0.11627800017595291, -1.9997574090957642], [-8.467427253723145, 0.11627800017595291, -2.064462184906006], [-8.250921249389648, 0.11627800017595291, -2.189462184906006], [-8.034415245056152, 0.11627800017595291, -2.314462184906006], [-7.817908763885498, 0.11627800017595291, -2.439462184906006], [-7.601402282714844, 0.11627800017595291, -2.564462184906006], [-7.3848958015441895, 0.11627800017595291, -2.689462184906006], [-7.168389320373535, 0.11627800017595291, -2.814462184906006], [-6.926908016204834, 0.11627800017595291, -2.879166841506958], [-6.685426712036133, 0.11627800017595291, -2.94387149810791], [-6.443945407867432, 0.11627800017595291, -3.0085761547088623], [-6.2024641036987305, 0.11627800017595291, -3.0732808113098145], [-5.960982799530029, 0.11627800017595291, -3.1379854679107666], [-5.710982799530029, 0.11627800017595291, -3.1379854679107666]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 206, "episode_id": "207", "scene_id": "S9hNv5qa7GM", "instruction": "Go out the door on the left then turn left and go straight through the arch into the room with the red couches and wait by the red couches. ", "start_position": [-9.678290367126465, 0.11627800017595291, -4.749460220336914], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-5.442669868469238, 0.11627800017595291, -3.1675500869750977], "goal_radius": 3.0, "reference_path": "[[-9.678290367126465, 0.11627800017595291, -4.749460220336914], [-9.58633041381836, 0.11627800017595291, -2.9691898822784424], [-8.671730041503906, 0.11627800017595291, -1.5494400262832642], [-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-5.442669868469238, 0.11627800017595291, -3.1675500869750977]]", "geodesic_distance": 6.620161056518555, "gt_locations": "[[-9.678290367126465, 0.11627800017595291, -4.749460220336914], [-9.678290367126465, 0.11627800017595291, -4.499460220336914], [-9.678290367126465, 0.11627800017595291, -4.249460220336914], [-9.678290367126465, 0.11627800017595291, -3.999460220336914], [-9.678290367126465, 0.11627800017595291, -3.749460220336914], [-9.678290367126465, 0.11627800017595291, -3.499460220336914], [-9.613585472106934, 0.11627800017595291, -3.257978677749634], [-9.548880577087402, 0.11627800017595291, -3.0164971351623535], [-9.484175682067871, 0.11627800017595291, -2.7750155925750732], [-9.41947078704834, 0.11627800017595291, -2.533534049987793], [-9.29447078704834, 0.11627800017595291, -2.3170275688171387], [-9.127167701721191, 0.11627800017595291, -2.1118292808532715], [-8.950390815734863, 0.11627800017595291, -1.9350526332855225], [-8.708909034729004, 0.11627800017595291, -1.9997574090957642], [-8.467427253723145, 0.11627800017595291, -2.064462184906006], [-8.250921249389648, 0.11627800017595291, -2.189462184906006], [-8.034415245056152, 0.11627800017595291, -2.314462184906006], [-7.817908763885498, 0.11627800017595291, -2.439462184906006], [-7.601402282714844, 0.11627800017595291, -2.564462184906006], [-7.3848958015441895, 0.11627800017595291, -2.689462184906006], [-7.168389320373535, 0.11627800017595291, -2.814462184906006], [-6.926908016204834, 0.11627800017595291, -2.879166841506958], [-6.685426712036133, 0.11627800017595291, -2.94387149810791], [-6.443945407867432, 0.11627800017595291, -3.0085761547088623], [-6.2024641036987305, 0.11627800017595291, -3.0732808113098145], [-5.960982799530029, 0.11627800017595291, -3.1379854679107666], [-5.710982799530029, 0.11627800017595291, -3.1379854679107666]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 207, "episode_id": "208", "scene_id": "S9hNv5qa7GM", "instruction": "Head into the hallway and to the left. Cross the entryway and wait in the living room archway. ", "start_position": [-9.678290367126465, 0.11627800017595291, -4.749460220336914], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-5.442669868469238, 0.11627800017595291, -3.1675500869750977], "goal_radius": 3.0, "reference_path": "[[-9.678290367126465, 0.11627800017595291, -4.749460220336914], [-9.58633041381836, 0.11627800017595291, -2.9691898822784424], [-8.671730041503906, 0.11627800017595291, -1.5494400262832642], [-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-5.442669868469238, 0.11627800017595291, -3.1675500869750977]]", "geodesic_distance": 6.620161056518555, "gt_locations": "[[-9.678290367126465, 0.11627800017595291, -4.749460220336914], [-9.678290367126465, 0.11627800017595291, -4.499460220336914], [-9.678290367126465, 0.11627800017595291, -4.249460220336914], [-9.678290367126465, 0.11627800017595291, -3.999460220336914], [-9.678290367126465, 0.11627800017595291, -3.749460220336914], [-9.678290367126465, 0.11627800017595291, -3.499460220336914], [-9.613585472106934, 0.11627800017595291, -3.257978677749634], [-9.548880577087402, 0.11627800017595291, -3.0164971351623535], [-9.484175682067871, 0.11627800017595291, -2.7750155925750732], [-9.41947078704834, 0.11627800017595291, -2.533534049987793], [-9.29447078704834, 0.11627800017595291, -2.3170275688171387], [-9.127167701721191, 0.11627800017595291, -2.1118292808532715], [-8.950390815734863, 0.11627800017595291, -1.9350526332855225], [-8.708909034729004, 0.11627800017595291, -1.9997574090957642], [-8.467427253723145, 0.11627800017595291, -2.064462184906006], [-8.250921249389648, 0.11627800017595291, -2.189462184906006], [-8.034415245056152, 0.11627800017595291, -2.314462184906006], [-7.817908763885498, 0.11627800017595291, -2.439462184906006], [-7.601402282714844, 0.11627800017595291, -2.564462184906006], [-7.3848958015441895, 0.11627800017595291, -2.689462184906006], [-7.168389320373535, 0.11627800017595291, -2.814462184906006], [-6.926908016204834, 0.11627800017595291, -2.879166841506958], [-6.685426712036133, 0.11627800017595291, -2.94387149810791], [-6.443945407867432, 0.11627800017595291, -3.0085761547088623], [-6.2024641036987305, 0.11627800017595291, -3.0732808113098145], [-5.960982799530029, 0.11627800017595291, -3.1379854679107666], [-5.710982799530029, 0.11627800017595291, -3.1379854679107666]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 208, "episode_id": "209", "scene_id": "mJXqzFtmKg4", "instruction": "Walk out of the kitchen and past the hallway door. Walk into the dining room and turn right. Stop by the piano. ", "start_position": [-3.7005701065063477, 0.003321051597595215, -4.07436990737915], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.5408600568771362, 0.003321051597595215, -8.526129722595215], "goal_radius": 3.0, "reference_path": "[[-3.7005701065063477, 0.003321051597595215, -4.07436990737915], [-3.8418400287628174, 0.003321051597595215, -5.052989959716797], [-3.807770013809204, 0.003321051597595215, -6.09483003616333], [-3.8637499809265137, 0.003321051597595215, -6.952010154724121], [-3.7654800415039062, 0.003321051597595215, -7.912960052490234], [-1.5408600568771362, 0.003321051597595215, -8.526129722595215]]", "geodesic_distance": 5.552971839904785, "gt_locations": "[[-3.7005701065063477, 0.003321051597595215, -4.07436990737915], [-3.7652747631073, 0.003321051597595215, -4.315851211547852], [-3.829979419708252, 0.003321051597595215, -4.557332515716553], [-3.829979419708252, 0.003321051597595215, -4.807332515716553], [-3.829979419708252, 0.003321051597595215, -5.057332515716553], [-3.829979419708252, 0.003321051597595215, -5.307332515716553], [-3.829979419708252, 0.003321051597595215, -5.557332515716553], [-3.829979419708252, 0.003321051597595215, -5.807332515716553], [-3.829979419708252, 0.003321051597595215, -6.057332515716553], [-3.829979419708252, 0.003321051597595215, -6.307332515716553], [-3.829979419708252, 0.003321051597595215, -6.557332515716553], [-3.829979419708252, 0.003321051597595215, -6.807332515716553], [-3.829979419708252, 0.003321051597595215, -7.057332515716553], [-3.829979419708252, 0.003321051597595215, -7.307332515716553], [-3.829979419708252, 0.003321051597595215, -7.557332515716553], [-3.6134729385375977, 0.003321051597595215, -7.682332515716553], [-3.3969664573669434, 0.003321051597595215, -7.807332515716553], [-3.180459976196289, 0.003321051597595215, -7.932332515716553], [-2.9639534950256348, 0.003321051597595215, -8.057332992553711], [-2.7224719524383545, 0.003321051597595215, -8.122037887573242], [-2.4724719524383545, 0.003321051597595215, -8.173572540283203], [-2.230990409851074, 0.003321051597595215, -8.238277435302734], [-1.9895089864730835, 0.003321051597595215, -8.302982330322266], [-1.7730026245117188, 0.003321051597595215, -8.427982330322266]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 2, 1, 0]"}
{"id": 209, "episode_id": "210", "scene_id": "mJXqzFtmKg4", "instruction": "Exit the kitchen, and walk all the way towards the dining table. Turn right at the dining table towards the instrument, and stop there. ", "start_position": [-3.7005701065063477, 0.003321051597595215, -4.07436990737915], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.5408600568771362, 0.003321051597595215, -8.526129722595215], "goal_radius": 3.0, "reference_path": "[[-3.7005701065063477, 0.003321051597595215, -4.07436990737915], [-3.8418400287628174, 0.003321051597595215, -5.052989959716797], [-3.807770013809204, 0.003321051597595215, -6.09483003616333], [-3.8637499809265137, 0.003321051597595215, -6.952010154724121], [-3.7654800415039062, 0.003321051597595215, -7.912960052490234], [-1.5408600568771362, 0.003321051597595215, -8.526129722595215]]", "geodesic_distance": 5.552971839904785, "gt_locations": "[[-3.7005701065063477, 0.003321051597595215, -4.07436990737915], [-3.7652747631073, 0.003321051597595215, -4.315851211547852], [-3.829979419708252, 0.003321051597595215, -4.557332515716553], [-3.829979419708252, 0.003321051597595215, -4.807332515716553], [-3.829979419708252, 0.003321051597595215, -5.057332515716553], [-3.829979419708252, 0.003321051597595215, -5.307332515716553], [-3.829979419708252, 0.003321051597595215, -5.557332515716553], [-3.829979419708252, 0.003321051597595215, -5.807332515716553], [-3.829979419708252, 0.003321051597595215, -6.057332515716553], [-3.829979419708252, 0.003321051597595215, -6.307332515716553], [-3.829979419708252, 0.003321051597595215, -6.557332515716553], [-3.829979419708252, 0.003321051597595215, -6.807332515716553], [-3.829979419708252, 0.003321051597595215, -7.057332515716553], [-3.829979419708252, 0.003321051597595215, -7.307332515716553], [-3.829979419708252, 0.003321051597595215, -7.557332515716553], [-3.6134729385375977, 0.003321051597595215, -7.682332515716553], [-3.3969664573669434, 0.003321051597595215, -7.807332515716553], [-3.180459976196289, 0.003321051597595215, -7.932332515716553], [-2.9639534950256348, 0.003321051597595215, -8.057332992553711], [-2.7224719524383545, 0.003321051597595215, -8.122037887573242], [-2.4724719524383545, 0.003321051597595215, -8.173572540283203], [-2.230990409851074, 0.003321051597595215, -8.238277435302734], [-1.9895089864730835, 0.003321051597595215, -8.302982330322266], [-1.7730026245117188, 0.003321051597595215, -8.427982330322266]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 2, 1, 0]"}
{"id": 210, "episode_id": "211", "scene_id": "mJXqzFtmKg4", "instruction": "Go into the dining room and wait next to the piano. ", "start_position": [-3.7005701065063477, 0.003321051597595215, -4.07436990737915], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-1.5408600568771362, 0.003321051597595215, -8.526129722595215], "goal_radius": 3.0, "reference_path": "[[-3.7005701065063477, 0.003321051597595215, -4.07436990737915], [-3.8418400287628174, 0.003321051597595215, -5.052989959716797], [-3.807770013809204, 0.003321051597595215, -6.09483003616333], [-3.8637499809265137, 0.003321051597595215, -6.952010154724121], [-3.7654800415039062, 0.003321051597595215, -7.912960052490234], [-1.5408600568771362, 0.003321051597595215, -8.526129722595215]]", "geodesic_distance": 5.552971839904785, "gt_locations": "[[-3.7005701065063477, 0.003321051597595215, -4.07436990737915], [-3.7652747631073, 0.003321051597595215, -4.315851211547852], [-3.829979419708252, 0.003321051597595215, -4.557332515716553], [-3.829979419708252, 0.003321051597595215, -4.807332515716553], [-3.829979419708252, 0.003321051597595215, -5.057332515716553], [-3.829979419708252, 0.003321051597595215, -5.307332515716553], [-3.829979419708252, 0.003321051597595215, -5.557332515716553], [-3.829979419708252, 0.003321051597595215, -5.807332515716553], [-3.829979419708252, 0.003321051597595215, -6.057332515716553], [-3.829979419708252, 0.003321051597595215, -6.307332515716553], [-3.829979419708252, 0.003321051597595215, -6.557332515716553], [-3.829979419708252, 0.003321051597595215, -6.807332515716553], [-3.829979419708252, 0.003321051597595215, -7.057332515716553], [-3.829979419708252, 0.003321051597595215, -7.307332515716553], [-3.829979419708252, 0.003321051597595215, -7.557332515716553], [-3.6134729385375977, 0.003321051597595215, -7.682332515716553], [-3.3969664573669434, 0.003321051597595215, -7.807332515716553], [-3.180459976196289, 0.003321051597595215, -7.932332515716553], [-2.9639534950256348, 0.003321051597595215, -8.057332992553711], [-2.7224719524383545, 0.003321051597595215, -8.122037887573242], [-2.4724719524383545, 0.003321051597595215, -8.173572540283203], [-2.230990409851074, 0.003321051597595215, -8.238277435302734], [-1.9895089864730835, 0.003321051597595215, -8.302982330322266], [-1.7730026245117188, 0.003321051597595215, -8.427982330322266]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 2, 1, 0]"}
{"id": 211, "episode_id": "212", "scene_id": "ac26ZMwG7aT", "instruction": "exit the bathroom and turn left, walk straight and turn left at the front door, walk down the two steps and walk to the right of the couches and chairs, turn right and walk up the two stairs and stop. ", "start_position": [4.74492883682251, 0.13922196626663208, -1.562150239944458], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [0.748989999294281, 0.13922199606895447, 6.392960071563721], "goal_radius": 3.0, "reference_path": "[[4.74492883682251, 0.13922196626663208, -1.562150239944458], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [1.3937100172042847, 0.08091871440410614, -0.4730049967765808], [1.0567899942398071, -0.0443471223115921, 1.793869972229004], [1.2071800231933594, -0.0346410870552063, 4.00521993637085], [0.748989999294281, 0.13922199606895447, 6.392960071563721]]", "geodesic_distance": 11.136160850524902, "gt_locations": "[[4.74492883682251, 0.13922196626663208, -1.562150239944458], [4.464083671569824, 0.13922199606895447, -1.5825705528259277], [4.24757719039917, 0.13922199606895447, -1.7075704336166382], [4.070800304412842, 0.13922199606895447, -1.8843472003936768], [3.8940236568450928, 0.13922199606895447, -2.061123847961426], [3.7172470092773438, 0.13922199606895447, -2.237900495529175], [3.5404703617095947, 0.13922199606895447, -2.414677143096924], [3.4154703617095947, 0.13922199606895447, -2.631183624267578], [3.2386937141418457, 0.13922199606895447, -2.454406976699829], [3.0619170665740967, 0.13922199606895447, -2.27763032913208], [2.8851404190063477, 0.13922199606895447, -2.100853681564331], [2.7083637714385986, 0.13922199606895447, -1.924077033996582], [2.5315871238708496, 0.13922199606895447, -1.747300386428833], [2.3548104763031006, 0.13922199606895447, -1.570523738861084], [2.1780338287353516, 0.13922199606895447, -1.393747091293335], [2.0012571811676025, 0.13922199606895447, -1.216970443725586], [1.824480414390564, 0.13922199606895447, -1.040193796157837], [1.6477036476135254, 0.12120871245861053, -0.8634171485900879], [1.5829988718032837, 0.0987105518579483, -0.6219356656074524], [1.518294095993042, 0.07621242105960846, -0.3804541826248169], [1.4535893201828003, 0.053714267909526825, -0.1389726996421814], [1.3888845443725586, 0.031216107308864594, 0.1025087833404541], [1.324179768562317, 0.008717969059944153, 0.3439902663230896], [1.2594749927520752, -0.01378018781542778, 0.5854717493057251], [1.1947702169418335, -0.025990083813667297, 0.8269532322883606], [1.1300654411315918, -0.03023097850382328, 1.068434715270996], [1.06536066532135, -0.03447187691926956, 1.3099162578582764], [1.06536066532135, -0.040949806571006775, 1.5599162578582764], [1.06536066532135, -0.04539424180984497, 1.8099162578582764], [1.06536066532135, -0.06077800691127777, 2.0599162578582764], [1.06536066532135, -0.06077800691127777, 2.3099162578582764], [1.06536066532135, -0.06077800691127777, 2.5599162578582764], [1.06536066532135, -0.06077800691127777, 2.8099162578582764], [1.06536066532135, -0.06077800691127777, 3.0599162578582764], [1.06536066532135, -0.06077800691127777, 3.3099162578582764], [1.1300654411315918, -0.06077800691127777, 3.5513978004455566], [1.1300654411315918, -0.06077800691127777, 3.8013978004455566], [1.1300654411315918, -0.025444120168685913, 4.051397800445557], [1.1300654411315918, -0.01444166898727417, 4.301397800445557], [1.06536066532135, 0.002197548747062683, 4.542879104614258], [1.0006558895111084, 0.01822768896818161, 4.784360408782959], [0.9359510540962219, 0.0340704619884491, 5.02584171295166], [0.8712462186813354, 0.04991324245929718, 5.267323017120361], [0.806541383266449, 0.06575601547956467, 5.5088043212890625], [0.8065413236618042, 0.07056372612714767, 5.7588043212890625], [0.8065412640571594, 0.07537142187356949, 6.0088043212890625]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 212, "episode_id": "213", "scene_id": "ac26ZMwG7aT", "instruction": "Exit toilet and turn left to dining room. Wait between couch and dining room table. ", "start_position": [4.74492883682251, 0.13922196626663208, -1.562150239944458], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [0.748989999294281, 0.13922199606895447, 6.392960071563721], "goal_radius": 3.0, "reference_path": "[[4.74492883682251, 0.13922196626663208, -1.562150239944458], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [1.3937100172042847, 0.08091871440410614, -0.4730049967765808], [1.0567899942398071, -0.0443471223115921, 1.793869972229004], [1.2071800231933594, -0.0346410870552063, 4.00521993637085], [0.748989999294281, 0.13922199606895447, 6.392960071563721]]", "geodesic_distance": 11.136160850524902, "gt_locations": "[[4.74492883682251, 0.13922196626663208, -1.562150239944458], [4.464083671569824, 0.13922199606895447, -1.5825705528259277], [4.24757719039917, 0.13922199606895447, -1.7075704336166382], [4.070800304412842, 0.13922199606895447, -1.8843472003936768], [3.8940236568450928, 0.13922199606895447, -2.061123847961426], [3.7172470092773438, 0.13922199606895447, -2.237900495529175], [3.5404703617095947, 0.13922199606895447, -2.414677143096924], [3.4154703617095947, 0.13922199606895447, -2.631183624267578], [3.2386937141418457, 0.13922199606895447, -2.454406976699829], [3.0619170665740967, 0.13922199606895447, -2.27763032913208], [2.8851404190063477, 0.13922199606895447, -2.100853681564331], [2.7083637714385986, 0.13922199606895447, -1.924077033996582], [2.5315871238708496, 0.13922199606895447, -1.747300386428833], [2.3548104763031006, 0.13922199606895447, -1.570523738861084], [2.1780338287353516, 0.13922199606895447, -1.393747091293335], [2.0012571811676025, 0.13922199606895447, -1.216970443725586], [1.824480414390564, 0.13922199606895447, -1.040193796157837], [1.6477036476135254, 0.12120871245861053, -0.8634171485900879], [1.5829988718032837, 0.0987105518579483, -0.6219356656074524], [1.518294095993042, 0.07621242105960846, -0.3804541826248169], [1.4535893201828003, 0.053714267909526825, -0.1389726996421814], [1.3888845443725586, 0.031216107308864594, 0.1025087833404541], [1.324179768562317, 0.008717969059944153, 0.3439902663230896], [1.2594749927520752, -0.01378018781542778, 0.5854717493057251], [1.1947702169418335, -0.025990083813667297, 0.8269532322883606], [1.1300654411315918, -0.03023097850382328, 1.068434715270996], [1.06536066532135, -0.03447187691926956, 1.3099162578582764], [1.06536066532135, -0.040949806571006775, 1.5599162578582764], [1.06536066532135, -0.04539424180984497, 1.8099162578582764], [1.06536066532135, -0.06077800691127777, 2.0599162578582764], [1.06536066532135, -0.06077800691127777, 2.3099162578582764], [1.06536066532135, -0.06077800691127777, 2.5599162578582764], [1.06536066532135, -0.06077800691127777, 2.8099162578582764], [1.06536066532135, -0.06077800691127777, 3.0599162578582764], [1.06536066532135, -0.06077800691127777, 3.3099162578582764], [1.1300654411315918, -0.06077800691127777, 3.5513978004455566], [1.1300654411315918, -0.06077800691127777, 3.8013978004455566], [1.1300654411315918, -0.025444120168685913, 4.051397800445557], [1.1300654411315918, -0.01444166898727417, 4.301397800445557], [1.06536066532135, 0.002197548747062683, 4.542879104614258], [1.0006558895111084, 0.01822768896818161, 4.784360408782959], [0.9359510540962219, 0.0340704619884491, 5.02584171295166], [0.8712462186813354, 0.04991324245929718, 5.267323017120361], [0.806541383266449, 0.06575601547956467, 5.5088043212890625], [0.8065413236618042, 0.07056372612714767, 5.7588043212890625], [0.8065412640571594, 0.07537142187356949, 6.0088043212890625]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 213, "episode_id": "214", "scene_id": "ac26ZMwG7aT", "instruction": "Go out the door. Go left. Head past couches, and up the stair. Stop by the table. ", "start_position": [4.74492883682251, 0.13922196626663208, -1.562150239944458], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [0.748989999294281, 0.13922199606895447, 6.392960071563721], "goal_radius": 3.0, "reference_path": "[[4.74492883682251, 0.13922196626663208, -1.562150239944458], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [1.3937100172042847, 0.08091871440410614, -0.4730049967765808], [1.0567899942398071, -0.0443471223115921, 1.793869972229004], [1.2071800231933594, -0.0346410870552063, 4.00521993637085], [0.748989999294281, 0.13922199606895447, 6.392960071563721]]", "geodesic_distance": 11.136160850524902, "gt_locations": "[[4.74492883682251, 0.13922196626663208, -1.562150239944458], [4.464083671569824, 0.13922199606895447, -1.5825705528259277], [4.24757719039917, 0.13922199606895447, -1.7075704336166382], [4.070800304412842, 0.13922199606895447, -1.8843472003936768], [3.8940236568450928, 0.13922199606895447, -2.061123847961426], [3.7172470092773438, 0.13922199606895447, -2.237900495529175], [3.5404703617095947, 0.13922199606895447, -2.414677143096924], [3.4154703617095947, 0.13922199606895447, -2.631183624267578], [3.2386937141418457, 0.13922199606895447, -2.454406976699829], [3.0619170665740967, 0.13922199606895447, -2.27763032913208], [2.8851404190063477, 0.13922199606895447, -2.100853681564331], [2.7083637714385986, 0.13922199606895447, -1.924077033996582], [2.5315871238708496, 0.13922199606895447, -1.747300386428833], [2.3548104763031006, 0.13922199606895447, -1.570523738861084], [2.1780338287353516, 0.13922199606895447, -1.393747091293335], [2.0012571811676025, 0.13922199606895447, -1.216970443725586], [1.824480414390564, 0.13922199606895447, -1.040193796157837], [1.6477036476135254, 0.12120871245861053, -0.8634171485900879], [1.5829988718032837, 0.0987105518579483, -0.6219356656074524], [1.518294095993042, 0.07621242105960846, -0.3804541826248169], [1.4535893201828003, 0.053714267909526825, -0.1389726996421814], [1.3888845443725586, 0.031216107308864594, 0.1025087833404541], [1.324179768562317, 0.008717969059944153, 0.3439902663230896], [1.2594749927520752, -0.01378018781542778, 0.5854717493057251], [1.1947702169418335, -0.025990083813667297, 0.8269532322883606], [1.1300654411315918, -0.03023097850382328, 1.068434715270996], [1.06536066532135, -0.03447187691926956, 1.3099162578582764], [1.06536066532135, -0.040949806571006775, 1.5599162578582764], [1.06536066532135, -0.04539424180984497, 1.8099162578582764], [1.06536066532135, -0.06077800691127777, 2.0599162578582764], [1.06536066532135, -0.06077800691127777, 2.3099162578582764], [1.06536066532135, -0.06077800691127777, 2.5599162578582764], [1.06536066532135, -0.06077800691127777, 2.8099162578582764], [1.06536066532135, -0.06077800691127777, 3.0599162578582764], [1.06536066532135, -0.06077800691127777, 3.3099162578582764], [1.1300654411315918, -0.06077800691127777, 3.5513978004455566], [1.1300654411315918, -0.06077800691127777, 3.8013978004455566], [1.1300654411315918, -0.025444120168685913, 4.051397800445557], [1.1300654411315918, -0.01444166898727417, 4.301397800445557], [1.06536066532135, 0.002197548747062683, 4.542879104614258], [1.0006558895111084, 0.01822768896818161, 4.784360408782959], [0.9359510540962219, 0.0340704619884491, 5.02584171295166], [0.8712462186813354, 0.04991324245929718, 5.267323017120361], [0.806541383266449, 0.06575601547956467, 5.5088043212890625], [0.8065413236618042, 0.07056372612714767, 5.7588043212890625], [0.8065412640571594, 0.07537142187356949, 6.0088043212890625]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 214, "episode_id": "215", "scene_id": "5LpN3gDmAk7", "instruction": "With the washing machine and dryer on your left, move forward through the doorway and continue forward past the bathroom on your left. Stop once you've entered the room at the end of the hallway. ", "start_position": [1.255810022354126, -1.0843499898910522, 1.6482499837875366], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [8.196889877319336, -1.0843499898910522, 0.30344900488853455], "goal_radius": 3.0, "reference_path": "[[1.255810022354126, -1.0843499898910522, 1.6482499837875366], [2.2933099269866943, -1.0843499898910522, 1.648319959640503], [3.121380090713501, -1.0843499898910522, 1.5800100564956665], [4.314909934997559, -1.0843499898910522, 1.5126800537109375], [5.4905900955200195, -1.0843499898910522, 1.5123200416564941], [8.196889877319336, -1.0843499898910522, 0.30344900488853455]]", "geodesic_distance": 7.141684532165527, "gt_locations": "[[1.255810022354126, -1.0843499898910522, 1.6482499837875366], [1.505810022354126, -1.0843499898910522, 1.6482499837875366], [1.755810022354126, -1.0843499898910522, 1.6482499837875366], [2.005810022354126, -1.0843499898910522, 1.6482499837875366], [2.255810022354126, -1.0843499898910522, 1.6482499837875366], [2.505810022354126, -1.0843499898910522, 1.6482499837875366], [2.755810022354126, -1.0843499898910522, 1.6482499837875366], [2.9972915649414062, -1.0843499898910522, 1.583545207977295], [3.2472915649414062, -1.0843499898910522, 1.5835453271865845], [3.4972915649414062, -1.0843499898910522, 1.583545446395874], [3.7472915649414062, -1.0843499898910522, 1.5835455656051636], [3.9972915649414062, -1.0843499898910522, 1.5835456848144531], [4.247291564941406, -1.0843499898910522, 1.5835458040237427], [4.497291564941406, -1.0843499898910522, 1.5835459232330322], [4.747291564941406, -1.0843499898910522, 1.5835460424423218], [4.997291564941406, -1.0843499898910522, 1.5835461616516113], [5.238772869110107, -1.0843499898910522, 1.5188415050506592], [5.480254173278809, -1.0843499898910522, 1.454136848449707], [5.72173547744751, -1.0843499898910522, 1.3894321918487549], [5.963216781616211, -1.0843499898910522, 1.3247275352478027], [6.204698085784912, -1.0792644023895264, 1.2600228786468506], [6.421204566955566, -1.0785269737243652, 1.1350228786468506], [6.637711048126221, -1.0597114562988281, 1.0100228786468506], [6.854217529296875, -1.0375056266784668, 0.8850229382514954], [7.070724010467529, -1.015299916267395, 0.7600229978561401], [7.287230491638184, -0.9930940866470337, 0.6350230574607849], [7.528711795806885, -0.96832674741745, 0.570318341255188], [7.770193099975586, -0.943559467792511, 0.5056136250495911]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 215, "episode_id": "216", "scene_id": "5LpN3gDmAk7", "instruction": "Turn left and walk all the way down the hallway. Enter the room and stop at the rug facing outside. ", "start_position": [1.255810022354126, -1.0843499898910522, 1.6482499837875366], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [8.196889877319336, -1.0843499898910522, 0.30344900488853455], "goal_radius": 3.0, "reference_path": "[[1.255810022354126, -1.0843499898910522, 1.6482499837875366], [2.2933099269866943, -1.0843499898910522, 1.648319959640503], [3.121380090713501, -1.0843499898910522, 1.5800100564956665], [4.314909934997559, -1.0843499898910522, 1.5126800537109375], [5.4905900955200195, -1.0843499898910522, 1.5123200416564941], [8.196889877319336, -1.0843499898910522, 0.30344900488853455]]", "geodesic_distance": 7.141684532165527, "gt_locations": "[[1.255810022354126, -1.0843499898910522, 1.6482499837875366], [1.505810022354126, -1.0843499898910522, 1.6482499837875366], [1.755810022354126, -1.0843499898910522, 1.6482499837875366], [2.005810022354126, -1.0843499898910522, 1.6482499837875366], [2.255810022354126, -1.0843499898910522, 1.6482499837875366], [2.505810022354126, -1.0843499898910522, 1.6482499837875366], [2.755810022354126, -1.0843499898910522, 1.6482499837875366], [2.9972915649414062, -1.0843499898910522, 1.583545207977295], [3.2472915649414062, -1.0843499898910522, 1.5835453271865845], [3.4972915649414062, -1.0843499898910522, 1.583545446395874], [3.7472915649414062, -1.0843499898910522, 1.5835455656051636], [3.9972915649414062, -1.0843499898910522, 1.5835456848144531], [4.247291564941406, -1.0843499898910522, 1.5835458040237427], [4.497291564941406, -1.0843499898910522, 1.5835459232330322], [4.747291564941406, -1.0843499898910522, 1.5835460424423218], [4.997291564941406, -1.0843499898910522, 1.5835461616516113], [5.238772869110107, -1.0843499898910522, 1.5188415050506592], [5.480254173278809, -1.0843499898910522, 1.454136848449707], [5.72173547744751, -1.0843499898910522, 1.3894321918487549], [5.963216781616211, -1.0843499898910522, 1.3247275352478027], [6.204698085784912, -1.0792644023895264, 1.2600228786468506], [6.421204566955566, -1.0785269737243652, 1.1350228786468506], [6.637711048126221, -1.0597114562988281, 1.0100228786468506], [6.854217529296875, -1.0375056266784668, 0.8850229382514954], [7.070724010467529, -1.015299916267395, 0.7600229978561401], [7.287230491638184, -0.9930940866470337, 0.6350230574607849], [7.528711795806885, -0.96832674741745, 0.570318341255188], [7.770193099975586, -0.943559467792511, 0.5056136250495911]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 216, "episode_id": "217", "scene_id": "5LpN3gDmAk7", "instruction": "Walk past the laundry room into the office at the end of the hall. Wait in the office between the love seat and chair. ", "start_position": [1.255810022354126, -1.0843499898910522, 1.6482499837875366], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [8.196889877319336, -1.0843499898910522, 0.30344900488853455], "goal_radius": 3.0, "reference_path": "[[1.255810022354126, -1.0843499898910522, 1.6482499837875366], [2.2933099269866943, -1.0843499898910522, 1.648319959640503], [3.121380090713501, -1.0843499898910522, 1.5800100564956665], [4.314909934997559, -1.0843499898910522, 1.5126800537109375], [5.4905900955200195, -1.0843499898910522, 1.5123200416564941], [8.196889877319336, -1.0843499898910522, 0.30344900488853455]]", "geodesic_distance": 7.141684532165527, "gt_locations": "[[1.255810022354126, -1.0843499898910522, 1.6482499837875366], [1.505810022354126, -1.0843499898910522, 1.6482499837875366], [1.755810022354126, -1.0843499898910522, 1.6482499837875366], [2.005810022354126, -1.0843499898910522, 1.6482499837875366], [2.255810022354126, -1.0843499898910522, 1.6482499837875366], [2.505810022354126, -1.0843499898910522, 1.6482499837875366], [2.755810022354126, -1.0843499898910522, 1.6482499837875366], [2.9972915649414062, -1.0843499898910522, 1.583545207977295], [3.2472915649414062, -1.0843499898910522, 1.5835453271865845], [3.4972915649414062, -1.0843499898910522, 1.583545446395874], [3.7472915649414062, -1.0843499898910522, 1.5835455656051636], [3.9972915649414062, -1.0843499898910522, 1.5835456848144531], [4.247291564941406, -1.0843499898910522, 1.5835458040237427], [4.497291564941406, -1.0843499898910522, 1.5835459232330322], [4.747291564941406, -1.0843499898910522, 1.5835460424423218], [4.997291564941406, -1.0843499898910522, 1.5835461616516113], [5.238772869110107, -1.0843499898910522, 1.5188415050506592], [5.480254173278809, -1.0843499898910522, 1.454136848449707], [5.72173547744751, -1.0843499898910522, 1.3894321918487549], [5.963216781616211, -1.0843499898910522, 1.3247275352478027], [6.204698085784912, -1.0792644023895264, 1.2600228786468506], [6.421204566955566, -1.0785269737243652, 1.1350228786468506], [6.637711048126221, -1.0597114562988281, 1.0100228786468506], [6.854217529296875, -1.0375056266784668, 0.8850229382514954], [7.070724010467529, -1.015299916267395, 0.7600229978561401], [7.287230491638184, -0.9930940866470337, 0.6350230574607849], [7.528711795806885, -0.96832674741745, 0.570318341255188], [7.770193099975586, -0.943559467792511, 0.5056136250495911]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 217, "episode_id": "218", "scene_id": "82sE5b5pLXE", "instruction": "Walk around the brick wall toward the seating area.  Go right to go up the two steps then walk forward and go down the next set of stairs.  Stop at the bottom of the stairs next to an open room with a couch in it. ", "start_position": [-16.388900756835938, 0.4374751150608063, -14.050000190734863], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-11.308099746704102, -0.4274347424507141, -8.292679786682129], "goal_radius": 3.0, "reference_path": "[[-16.388900756835938, 0.4374751150608063, -14.050000190734863], [-16.008100509643555, 0.1820536106824875, -14.826199531555176], [-14.962699890136719, 0.17769576609134674, -13.889900207519531], [-13.652899742126465, 0.33779406547546387, -11.793000221252441], [-12.671199798583984, 0.33779406547546387, -9.9868803024292], [-12.16569995880127, -0.036383211612701416, -9.14225959777832], [-11.308099746704102, -0.4274347424507141, -8.292679786682129]]", "geodesic_distance": 8.609513282775879, "gt_locations": "[[-16.388900756835938, 0.4374751150608063, -14.050000190734863], [-16.324195861816406, 0.36035850644111633, -14.291481971740723], [-16.199195861816406, 0.3077927827835083, -14.507987976074219], [-15.957714080810547, 0.1713292896747589, -14.57269287109375], [-15.716232299804688, 0.13779401779174805, -14.507987976074219], [-15.499726295471191, 0.13779401779174805, -14.382987976074219], [-15.322949409484863, 0.13779401779174805, -14.20621109008789], [-15.197949409484863, 0.15668420493602753, -13.989705085754395], [-15.072949409484863, 0.2022644281387329, -13.773199081420898], [-14.947949409484863, 0.2478446662425995, -13.556693077087402], [-14.822949409484863, 0.2700697183609009, -13.340187072753906], [-14.697949409484863, 0.26803481578826904, -13.12368106842041], [-14.572949409484863, 0.2589815855026245, -12.907175064086914], [-14.447949409484863, 0.33779406547546387, -12.690669059753418], [-14.271172523498535, 0.33779406547546387, -12.51389217376709], [-14.094395637512207, 0.33779406547546387, -12.337115287780762], [-13.917618751525879, 0.33779406547546387, -12.160338401794434], [-13.792618751525879, 0.33779406547546387, -11.943832397460938], [-13.667618751525879, 0.33779406547546387, -11.727326393127441], [-13.542618751525879, 0.33779406547546387, -11.510820388793945], [-13.417618751525879, 0.33779406547546387, -11.29431438446045], [-13.292618751525879, 0.33779406547546387, -11.077808380126953], [-13.167618751525879, 0.33779406547546387, -10.861302375793457], [-13.042618751525879, 0.33779406547546387, -10.644796371459961], [-12.917618751525879, 0.33779406547546387, -10.428290367126465], [-12.792618751525879, 0.33779406547546387, -10.211784362792969], [-12.667618751525879, 0.33779406547546387, -9.995278358459473], [-12.542618751525879, 0.29193684458732605, -9.778772354125977], [-12.417618751525879, 0.14244671165943146, -9.56226634979248], [-12.292618751525879, 0.031275928020477295, -9.345760345458984], [-12.167618751525879, -0.04139098525047302, -9.129254341125488], [-12.042618751525879, -0.13896097242832184, -8.912748336791992], [-11.917618751525879, -0.25981420278549194, -8.696242332458496], [-11.701112747192383, -0.2970055937767029, -8.571242332458496]]", "gt_actions": "[3, 1, 3, 1, 3, 3, 3, 1, 3, 3, 1, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 218, "episode_id": "219", "scene_id": "82sE5b5pLXE", "instruction": "Turn right at the staircase then walk up the two stone steps. Walk down the stairs by the curious cabinet. Stop next to the open doorway. ", "start_position": [-16.388900756835938, 0.4374751150608063, -14.050000190734863], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-11.308099746704102, -0.4274347424507141, -8.292679786682129], "goal_radius": 3.0, "reference_path": "[[-16.388900756835938, 0.4374751150608063, -14.050000190734863], [-16.008100509643555, 0.1820536106824875, -14.826199531555176], [-14.962699890136719, 0.17769576609134674, -13.889900207519531], [-13.652899742126465, 0.33779406547546387, -11.793000221252441], [-12.671199798583984, 0.33779406547546387, -9.9868803024292], [-12.16569995880127, -0.036383211612701416, -9.14225959777832], [-11.308099746704102, -0.4274347424507141, -8.292679786682129]]", "geodesic_distance": 8.609513282775879, "gt_locations": "[[-16.388900756835938, 0.4374751150608063, -14.050000190734863], [-16.324195861816406, 0.36035850644111633, -14.291481971740723], [-16.199195861816406, 0.3077927827835083, -14.507987976074219], [-15.957714080810547, 0.1713292896747589, -14.57269287109375], [-15.716232299804688, 0.13779401779174805, -14.507987976074219], [-15.499726295471191, 0.13779401779174805, -14.382987976074219], [-15.322949409484863, 0.13779401779174805, -14.20621109008789], [-15.197949409484863, 0.15668420493602753, -13.989705085754395], [-15.072949409484863, 0.2022644281387329, -13.773199081420898], [-14.947949409484863, 0.2478446662425995, -13.556693077087402], [-14.822949409484863, 0.2700697183609009, -13.340187072753906], [-14.697949409484863, 0.26803481578826904, -13.12368106842041], [-14.572949409484863, 0.2589815855026245, -12.907175064086914], [-14.447949409484863, 0.33779406547546387, -12.690669059753418], [-14.271172523498535, 0.33779406547546387, -12.51389217376709], [-14.094395637512207, 0.33779406547546387, -12.337115287780762], [-13.917618751525879, 0.33779406547546387, -12.160338401794434], [-13.792618751525879, 0.33779406547546387, -11.943832397460938], [-13.667618751525879, 0.33779406547546387, -11.727326393127441], [-13.542618751525879, 0.33779406547546387, -11.510820388793945], [-13.417618751525879, 0.33779406547546387, -11.29431438446045], [-13.292618751525879, 0.33779406547546387, -11.077808380126953], [-13.167618751525879, 0.33779406547546387, -10.861302375793457], [-13.042618751525879, 0.33779406547546387, -10.644796371459961], [-12.917618751525879, 0.33779406547546387, -10.428290367126465], [-12.792618751525879, 0.33779406547546387, -10.211784362792969], [-12.667618751525879, 0.33779406547546387, -9.995278358459473], [-12.542618751525879, 0.29193684458732605, -9.778772354125977], [-12.417618751525879, 0.14244671165943146, -9.56226634979248], [-12.292618751525879, 0.031275928020477295, -9.345760345458984], [-12.167618751525879, -0.04139098525047302, -9.129254341125488], [-12.042618751525879, -0.13896097242832184, -8.912748336791992], [-11.917618751525879, -0.25981420278549194, -8.696242332458496], [-11.701112747192383, -0.2970055937767029, -8.571242332458496]]", "gt_actions": "[3, 1, 3, 1, 3, 3, 3, 1, 3, 3, 1, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 219, "episode_id": "220", "scene_id": "82sE5b5pLXE", "instruction": "Go down the stairs and turn right, walking past the piano and up the two steps. Continue forward and walk down the 5 steps. Stop when you get down the steps. ", "start_position": [-16.388900756835938, 0.4374751150608063, -14.050000190734863], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-11.308099746704102, -0.4274347424507141, -8.292679786682129], "goal_radius": 3.0, "reference_path": "[[-16.388900756835938, 0.4374751150608063, -14.050000190734863], [-16.008100509643555, 0.1820536106824875, -14.826199531555176], [-14.962699890136719, 0.17769576609134674, -13.889900207519531], [-13.652899742126465, 0.33779406547546387, -11.793000221252441], [-12.671199798583984, 0.33779406547546387, -9.9868803024292], [-12.16569995880127, -0.036383211612701416, -9.14225959777832], [-11.308099746704102, -0.4274347424507141, -8.292679786682129]]", "geodesic_distance": 8.609513282775879, "gt_locations": "[[-16.388900756835938, 0.4374751150608063, -14.050000190734863], [-16.324195861816406, 0.36035850644111633, -14.291481971740723], [-16.199195861816406, 0.3077927827835083, -14.507987976074219], [-15.957714080810547, 0.1713292896747589, -14.57269287109375], [-15.716232299804688, 0.13779401779174805, -14.507987976074219], [-15.499726295471191, 0.13779401779174805, -14.382987976074219], [-15.322949409484863, 0.13779401779174805, -14.20621109008789], [-15.197949409484863, 0.15668420493602753, -13.989705085754395], [-15.072949409484863, 0.2022644281387329, -13.773199081420898], [-14.947949409484863, 0.2478446662425995, -13.556693077087402], [-14.822949409484863, 0.2700697183609009, -13.340187072753906], [-14.697949409484863, 0.26803481578826904, -13.12368106842041], [-14.572949409484863, 0.2589815855026245, -12.907175064086914], [-14.447949409484863, 0.33779406547546387, -12.690669059753418], [-14.271172523498535, 0.33779406547546387, -12.51389217376709], [-14.094395637512207, 0.33779406547546387, -12.337115287780762], [-13.917618751525879, 0.33779406547546387, -12.160338401794434], [-13.792618751525879, 0.33779406547546387, -11.943832397460938], [-13.667618751525879, 0.33779406547546387, -11.727326393127441], [-13.542618751525879, 0.33779406547546387, -11.510820388793945], [-13.417618751525879, 0.33779406547546387, -11.29431438446045], [-13.292618751525879, 0.33779406547546387, -11.077808380126953], [-13.167618751525879, 0.33779406547546387, -10.861302375793457], [-13.042618751525879, 0.33779406547546387, -10.644796371459961], [-12.917618751525879, 0.33779406547546387, -10.428290367126465], [-12.792618751525879, 0.33779406547546387, -10.211784362792969], [-12.667618751525879, 0.33779406547546387, -9.995278358459473], [-12.542618751525879, 0.29193684458732605, -9.778772354125977], [-12.417618751525879, 0.14244671165943146, -9.56226634979248], [-12.292618751525879, 0.031275928020477295, -9.345760345458984], [-12.167618751525879, -0.04139098525047302, -9.129254341125488], [-12.042618751525879, -0.13896097242832184, -8.912748336791992], [-11.917618751525879, -0.25981420278549194, -8.696242332458496], [-11.701112747192383, -0.2970055937767029, -8.571242332458496]]", "gt_actions": "[3, 1, 3, 1, 3, 3, 3, 1, 3, 3, 1, 3, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 220, "episode_id": "221", "scene_id": "ZMojNkEp431", "instruction": "Walk through the archway and wait to the left on the steps. ", "start_position": [22.036252975463867, -0.7064279913902283, 7.27456521987915], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [20.51300048828125, -0.3895981013774872, 0.7884960174560547], "goal_radius": 3.0, "reference_path": "[[22.036252975463867, -0.7064279913902283, 7.27456521987915], [22.321800231933594, -0.7064279913902283, 5.445529937744141], [20.978300094604492, -0.7064279913902283, 3.791520118713379], [20.91010093688965, -0.5064280033111572, 0.9751390218734741], [20.51300048828125, -0.3895981013774872, 0.7884960174560547]]", "geodesic_distance": 6.9912214279174805, "gt_locations": "[[22.036252975463867, -0.7064279913902283, 7.27456521987915], [22.1009578704834, -0.7064279913902283, 7.033083438873291], [22.2259578704834, -0.7064279913902283, 6.816576957702637], [22.29066276550293, -0.7064279913902283, 6.5750956535339355], [22.29066276550293, -0.7064279913902283, 6.3250956535339355], [22.29066276550293, -0.7064279913902283, 6.0750956535339355], [22.29066276550293, -0.7064279913902283, 5.8250956535339355], [22.29066276550293, -0.7064279913902283, 5.5750956535339355], [22.35536766052246, -0.7064279913902283, 5.333614349365234], [22.238073348999023, -0.7064279913902283, 5.106834411621094], [22.061296463012695, -0.7064279913902283, 4.930057525634766], [21.884519577026367, -0.7064279913902283, 4.7532806396484375], [21.70774269104004, -0.7064279913902283, 4.576503753662109], [21.53096580505371, -0.7064279913902283, 4.399726867675781], [21.354188919067383, -0.7064279913902283, 4.222949981689453], [21.177412033081055, -0.7064279913902283, 4.046173095703125], [21.302412033081055, -0.7064279913902283, 3.82966685295105], [21.427412033081055, -0.7064279913902283, 3.6131606101989746], [21.552412033081055, -0.7064279913902283, 3.3966543674468994], [21.677412033081055, -0.7064279913902283, 3.180148124694824], [21.77025604248047, -0.7064279913902283, 2.9442944526672363], [21.789474487304688, -0.7064279913902283, 2.6798813343048096], [21.664474487304688, -0.7064279913902283, 2.4633750915527344], [21.539474487304688, -0.7064279913902283, 2.246868848800659], [21.414474487304688, -0.6664807200431824, 2.030362606048584], [21.289474487304688, -0.6202172040939331, 1.8138562440872192], [21.164474487304688, -0.5739536881446838, 1.5973498821258545], [21.039474487304688, -0.5315205454826355, 1.3808435201644897], [20.914474487304688, -0.5093631744384766, 1.164337158203125], [20.73769760131836, -0.5064280033111572, 0.987560510635376]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 221, "episode_id": "222", "scene_id": "ZMojNkEp431", "instruction": "Walk across workroom through archway and to stairs on the left. Stop on the stairs. ", "start_position": [22.036252975463867, -0.7064279913902283, 7.27456521987915], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [20.51300048828125, -0.3895981013774872, 0.7884960174560547], "goal_radius": 3.0, "reference_path": "[[22.036252975463867, -0.7064279913902283, 7.27456521987915], [22.321800231933594, -0.7064279913902283, 5.445529937744141], [20.978300094604492, -0.7064279913902283, 3.791520118713379], [20.91010093688965, -0.5064280033111572, 0.9751390218734741], [20.51300048828125, -0.3895981013774872, 0.7884960174560547]]", "geodesic_distance": 6.9912214279174805, "gt_locations": "[[22.036252975463867, -0.7064279913902283, 7.27456521987915], [22.1009578704834, -0.7064279913902283, 7.033083438873291], [22.2259578704834, -0.7064279913902283, 6.816576957702637], [22.29066276550293, -0.7064279913902283, 6.5750956535339355], [22.29066276550293, -0.7064279913902283, 6.3250956535339355], [22.29066276550293, -0.7064279913902283, 6.0750956535339355], [22.29066276550293, -0.7064279913902283, 5.8250956535339355], [22.29066276550293, -0.7064279913902283, 5.5750956535339355], [22.35536766052246, -0.7064279913902283, 5.333614349365234], [22.238073348999023, -0.7064279913902283, 5.106834411621094], [22.061296463012695, -0.7064279913902283, 4.930057525634766], [21.884519577026367, -0.7064279913902283, 4.7532806396484375], [21.70774269104004, -0.7064279913902283, 4.576503753662109], [21.53096580505371, -0.7064279913902283, 4.399726867675781], [21.354188919067383, -0.7064279913902283, 4.222949981689453], [21.177412033081055, -0.7064279913902283, 4.046173095703125], [21.302412033081055, -0.7064279913902283, 3.82966685295105], [21.427412033081055, -0.7064279913902283, 3.6131606101989746], [21.552412033081055, -0.7064279913902283, 3.3966543674468994], [21.677412033081055, -0.7064279913902283, 3.180148124694824], [21.77025604248047, -0.7064279913902283, 2.9442944526672363], [21.789474487304688, -0.7064279913902283, 2.6798813343048096], [21.664474487304688, -0.7064279913902283, 2.4633750915527344], [21.539474487304688, -0.7064279913902283, 2.246868848800659], [21.414474487304688, -0.6664807200431824, 2.030362606048584], [21.289474487304688, -0.6202172040939331, 1.8138562440872192], [21.164474487304688, -0.5739536881446838, 1.5973498821258545], [21.039474487304688, -0.5315205454826355, 1.3808435201644897], [20.914474487304688, -0.5093631744384766, 1.164337158203125], [20.73769760131836, -0.5064280033111572, 0.987560510635376]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 222, "episode_id": "223", "scene_id": "ZMojNkEp431", "instruction": "Take a right. At the end of the desk on the left, take a left at the stairs and wait on the third step. ", "start_position": [22.036252975463867, -0.7064279913902283, 7.27456521987915], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [20.51300048828125, -0.3895981013774872, 0.7884960174560547], "goal_radius": 3.0, "reference_path": "[[22.036252975463867, -0.7064279913902283, 7.27456521987915], [22.321800231933594, -0.7064279913902283, 5.445529937744141], [20.978300094604492, -0.7064279913902283, 3.791520118713379], [20.91010093688965, -0.5064280033111572, 0.9751390218734741], [20.51300048828125, -0.3895981013774872, 0.7884960174560547]]", "geodesic_distance": 6.9912214279174805, "gt_locations": "[[22.036252975463867, -0.7064279913902283, 7.27456521987915], [22.1009578704834, -0.7064279913902283, 7.033083438873291], [22.2259578704834, -0.7064279913902283, 6.816576957702637], [22.29066276550293, -0.7064279913902283, 6.5750956535339355], [22.29066276550293, -0.7064279913902283, 6.3250956535339355], [22.29066276550293, -0.7064279913902283, 6.0750956535339355], [22.29066276550293, -0.7064279913902283, 5.8250956535339355], [22.29066276550293, -0.7064279913902283, 5.5750956535339355], [22.35536766052246, -0.7064279913902283, 5.333614349365234], [22.238073348999023, -0.7064279913902283, 5.106834411621094], [22.061296463012695, -0.7064279913902283, 4.930057525634766], [21.884519577026367, -0.7064279913902283, 4.7532806396484375], [21.70774269104004, -0.7064279913902283, 4.576503753662109], [21.53096580505371, -0.7064279913902283, 4.399726867675781], [21.354188919067383, -0.7064279913902283, 4.222949981689453], [21.177412033081055, -0.7064279913902283, 4.046173095703125], [21.302412033081055, -0.7064279913902283, 3.82966685295105], [21.427412033081055, -0.7064279913902283, 3.6131606101989746], [21.552412033081055, -0.7064279913902283, 3.3966543674468994], [21.677412033081055, -0.7064279913902283, 3.180148124694824], [21.77025604248047, -0.7064279913902283, 2.9442944526672363], [21.789474487304688, -0.7064279913902283, 2.6798813343048096], [21.664474487304688, -0.7064279913902283, 2.4633750915527344], [21.539474487304688, -0.7064279913902283, 2.246868848800659], [21.414474487304688, -0.6664807200431824, 2.030362606048584], [21.289474487304688, -0.6202172040939331, 1.8138562440872192], [21.164474487304688, -0.5739536881446838, 1.5973498821258545], [21.039474487304688, -0.5315205454826355, 1.3808435201644897], [20.914474487304688, -0.5093631744384766, 1.164337158203125], [20.73769760131836, -0.5064280033111572, 0.987560510635376]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 223, "episode_id": "224", "scene_id": "r47D5H71a5s", "instruction": "Exit the room and head straight out of the door on the left to exit the other room then turn left and wait by the chair and sink. ", "start_position": [-3.926379919052124, 0.09863299131393433, -2.176409959793091], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.6980700492858887, 0.09863299131393433, -5.312399864196777], "goal_radius": 3.0, "reference_path": "[[-3.926379919052124, 0.09863299131393433, -2.176409959793091], [-2.9204399585723877, 0.09863299131393433, -2.0201900005340576], [0.09648550301790237, 0.09863299131393433, -3.930579900741577], [0.9797559976577759, 0.09863299131393433, -4.058070182800293], [1.6980700492858887, 0.09863299131393433, -5.312399864196777]]", "geodesic_distance": 6.661054611206055, "gt_locations": "[[-3.926379919052124, 0.09863299131393433, -2.176409959793091], [-3.6848983764648438, 0.09863299131393433, -2.1117050647735596], [-3.4434168338775635, 0.09863299131393433, -2.0470001697540283], [-3.1934168338775635, 0.09863299131393433, -2.0470001697540283], [-2.951935291290283, 0.09863299131393433, -2.1117048263549805], [-2.735428810119629, 0.09863299131393433, -2.2367048263549805], [-2.5189223289489746, 0.09863299131393433, -2.3617048263549805], [-2.3024158477783203, 0.09863299131393433, -2.4867048263549805], [-2.085909366607666, 0.09863299131393433, -2.6117048263549805], [-1.8694030046463013, 0.09863299131393433, -2.7367048263549805], [-1.6528966426849365, 0.09863299131393433, -2.8617048263549805], [-1.4363902807235718, 0.09863299131393433, -2.9867048263549805], [-1.219883918762207, 0.09863299131393433, -3.1117048263549805], [-1.0033775568008423, 0.09863299131393433, -3.2367048263549805], [-0.7868711948394775, 0.09863299131393433, -3.3617048263549805], [-0.5703648328781128, 0.09863299131393433, -3.4867048263549805], [-0.35385844111442566, 0.09863299131393433, -3.6117048263549805], [-0.13735204935073853, 0.09863299131393433, -3.7367048263549805], [0.10412940382957458, 0.09863299131393433, -3.8014094829559326], [0.3456108570098877, 0.09863299131393433, -3.8661141395568848], [0.5870922803878784, 0.09863299131393433, -3.930818796157837], [0.8035986423492432, 0.09863299131393433, -4.055818557739258], [0.980375349521637, 0.09863299131393433, -4.232595443725586], [1.1718125343322754, 0.09863299131393433, -4.409372329711914], [1.2968125343322754, 0.09863299131393433, -4.625878810882568], [1.4218125343322754, 0.09863299131393433, -4.842385292053223], [1.5468125343322754, 0.09863299131393433, -5.058891773223877]]", "gt_actions": "[2, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 224, "episode_id": "225", "scene_id": "r47D5H71a5s", "instruction": "Walk straight into the room with the 2 stretched out chairs beds. Walk to the left of the room and exit out the door. Once out the door, turn left and stop in the next doorway facing the black adjustable chair. ", "start_position": [-3.926379919052124, 0.09863299131393433, -2.176409959793091], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.6980700492858887, 0.09863299131393433, -5.312399864196777], "goal_radius": 3.0, "reference_path": "[[-3.926379919052124, 0.09863299131393433, -2.176409959793091], [-2.9204399585723877, 0.09863299131393433, -2.0201900005340576], [0.09648550301790237, 0.09863299131393433, -3.930579900741577], [0.9797559976577759, 0.09863299131393433, -4.058070182800293], [1.6980700492858887, 0.09863299131393433, -5.312399864196777]]", "geodesic_distance": 6.661054611206055, "gt_locations": "[[-3.926379919052124, 0.09863299131393433, -2.176409959793091], [-3.6848983764648438, 0.09863299131393433, -2.1117050647735596], [-3.4434168338775635, 0.09863299131393433, -2.0470001697540283], [-3.1934168338775635, 0.09863299131393433, -2.0470001697540283], [-2.951935291290283, 0.09863299131393433, -2.1117048263549805], [-2.735428810119629, 0.09863299131393433, -2.2367048263549805], [-2.5189223289489746, 0.09863299131393433, -2.3617048263549805], [-2.3024158477783203, 0.09863299131393433, -2.4867048263549805], [-2.085909366607666, 0.09863299131393433, -2.6117048263549805], [-1.8694030046463013, 0.09863299131393433, -2.7367048263549805], [-1.6528966426849365, 0.09863299131393433, -2.8617048263549805], [-1.4363902807235718, 0.09863299131393433, -2.9867048263549805], [-1.219883918762207, 0.09863299131393433, -3.1117048263549805], [-1.0033775568008423, 0.09863299131393433, -3.2367048263549805], [-0.7868711948394775, 0.09863299131393433, -3.3617048263549805], [-0.5703648328781128, 0.09863299131393433, -3.4867048263549805], [-0.35385844111442566, 0.09863299131393433, -3.6117048263549805], [-0.13735204935073853, 0.09863299131393433, -3.7367048263549805], [0.10412940382957458, 0.09863299131393433, -3.8014094829559326], [0.3456108570098877, 0.09863299131393433, -3.8661141395568848], [0.5870922803878784, 0.09863299131393433, -3.930818796157837], [0.8035986423492432, 0.09863299131393433, -4.055818557739258], [0.980375349521637, 0.09863299131393433, -4.232595443725586], [1.1718125343322754, 0.09863299131393433, -4.409372329711914], [1.2968125343322754, 0.09863299131393433, -4.625878810882568], [1.4218125343322754, 0.09863299131393433, -4.842385292053223], [1.5468125343322754, 0.09863299131393433, -5.058891773223877]]", "gt_actions": "[2, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 225, "episode_id": "226", "scene_id": "r47D5H71a5s", "instruction": "Walk through the door and go through the other door. Go into the hall and turn left. Go through that door and stop. ", "start_position": [-3.926379919052124, 0.09863299131393433, -2.176409959793091], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.6980700492858887, 0.09863299131393433, -5.312399864196777], "goal_radius": 3.0, "reference_path": "[[-3.926379919052124, 0.09863299131393433, -2.176409959793091], [-2.9204399585723877, 0.09863299131393433, -2.0201900005340576], [0.09648550301790237, 0.09863299131393433, -3.930579900741577], [0.9797559976577759, 0.09863299131393433, -4.058070182800293], [1.6980700492858887, 0.09863299131393433, -5.312399864196777]]", "geodesic_distance": 6.661054611206055, "gt_locations": "[[-3.926379919052124, 0.09863299131393433, -2.176409959793091], [-3.6848983764648438, 0.09863299131393433, -2.1117050647735596], [-3.4434168338775635, 0.09863299131393433, -2.0470001697540283], [-3.1934168338775635, 0.09863299131393433, -2.0470001697540283], [-2.951935291290283, 0.09863299131393433, -2.1117048263549805], [-2.735428810119629, 0.09863299131393433, -2.2367048263549805], [-2.5189223289489746, 0.09863299131393433, -2.3617048263549805], [-2.3024158477783203, 0.09863299131393433, -2.4867048263549805], [-2.085909366607666, 0.09863299131393433, -2.6117048263549805], [-1.8694030046463013, 0.09863299131393433, -2.7367048263549805], [-1.6528966426849365, 0.09863299131393433, -2.8617048263549805], [-1.4363902807235718, 0.09863299131393433, -2.9867048263549805], [-1.219883918762207, 0.09863299131393433, -3.1117048263549805], [-1.0033775568008423, 0.09863299131393433, -3.2367048263549805], [-0.7868711948394775, 0.09863299131393433, -3.3617048263549805], [-0.5703648328781128, 0.09863299131393433, -3.4867048263549805], [-0.35385844111442566, 0.09863299131393433, -3.6117048263549805], [-0.13735204935073853, 0.09863299131393433, -3.7367048263549805], [0.10412940382957458, 0.09863299131393433, -3.8014094829559326], [0.3456108570098877, 0.09863299131393433, -3.8661141395568848], [0.5870922803878784, 0.09863299131393433, -3.930818796157837], [0.8035986423492432, 0.09863299131393433, -4.055818557739258], [0.980375349521637, 0.09863299131393433, -4.232595443725586], [1.1718125343322754, 0.09863299131393433, -4.409372329711914], [1.2968125343322754, 0.09863299131393433, -4.625878810882568], [1.4218125343322754, 0.09863299131393433, -4.842385292053223], [1.5468125343322754, 0.09863299131393433, -5.058891773223877]]", "gt_actions": "[2, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 226, "episode_id": "227", "scene_id": "1pXnuDYAj8r", "instruction": "Turn right and exit the bathroom into the bedroom. Once in the bedroom turn right and walk to the door leading out on your right. Once out the door turn left and walk to the top of the stairs and stop. ", "start_position": [8.06624984741211, 3.514145851135254, -8.757630348205566], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [8.411459922790527, 3.514145851135254, -3.8118999004364014], "goal_radius": 3.0, "reference_path": "[[8.06624984741211, 3.514145851135254, -8.757630348205566], [9.462730407714844, 3.514145851135254, -8.81820011138916], [9.370229721069336, 3.514145851135254, -7.28941011428833], [9.304389953613281, 3.514145851135254, -5.129980087280273], [8.137229919433594, 3.514145851135254, -5.067240238189697], [8.411459922790527, 3.514145851135254, -3.8118999004364014]]", "geodesic_distance": 5.7356672286987305, "gt_locations": "[[8.06624984741211, 3.514145851135254, -8.757630348205566], [8.31624984741211, 3.514145851135254, -8.757630348205566], [8.56624984741211, 3.514145851135254, -8.757630348205566], [8.81624984741211, 3.514145851135254, -8.757630348205566], [9.06624984741211, 3.514145851135254, -8.757630348205566], [9.19124984741211, 3.514145851135254, -8.54112434387207], [9.25595474243164, 3.514145851135254, -8.299642562866211], [9.320659637451172, 3.514145851135254, -8.058160781860352], [9.320659637451172, 3.514145851135254, -7.808160781860352], [9.320659637451172, 3.514145851135254, -7.558160781860352], [9.320659637451172, 3.514145851135254, -7.308160781860352], [9.320659637451172, 3.514145851135254, -7.058160781860352], [9.320659637451172, 3.514145851135254, -6.808160781860352], [9.320659637451172, 3.514145851135254, -6.558160781860352], [9.320659637451172, 3.514145851135254, -6.308160781860352], [9.320659637451172, 3.514145851135254, -6.058160781860352], [9.320659637451172, 3.514145851135254, -5.808160781860352], [9.320659637451172, 3.514145851135254, -5.558160781860352], [9.104153633117676, 3.514145851135254, -5.433160781860352], [8.88764762878418, 3.514145851135254, -5.308160781860352], [8.671141624450684, 3.514145851135254, -5.183160781860352], [8.429659843444824, 3.514145851135254, -5.11845588684082], [8.364954948425293, 3.514145851135254, -4.876974582672119], [8.364954948425293, 3.514145851135254, -4.626974582672119], [8.411127090454102, 3.514145851135254, -4.371593475341797], [8.411127090454102, 3.514145851135254, -4.121593475341797]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 2, 1, 2, 1, 3, 1, 0]"}
{"id": 227, "episode_id": "228", "scene_id": "1pXnuDYAj8r", "instruction": "Exit the bathroom toward the room then turn right and go out the door on your right. Turn left and stop at the top of the stairs on your left. ", "start_position": [8.06624984741211, 3.514145851135254, -8.757630348205566], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [8.411459922790527, 3.514145851135254, -3.8118999004364014], "goal_radius": 3.0, "reference_path": "[[8.06624984741211, 3.514145851135254, -8.757630348205566], [9.462730407714844, 3.514145851135254, -8.81820011138916], [9.370229721069336, 3.514145851135254, -7.28941011428833], [9.304389953613281, 3.514145851135254, -5.129980087280273], [8.137229919433594, 3.514145851135254, -5.067240238189697], [8.411459922790527, 3.514145851135254, -3.8118999004364014]]", "geodesic_distance": 5.7356672286987305, "gt_locations": "[[8.06624984741211, 3.514145851135254, -8.757630348205566], [8.31624984741211, 3.514145851135254, -8.757630348205566], [8.56624984741211, 3.514145851135254, -8.757630348205566], [8.81624984741211, 3.514145851135254, -8.757630348205566], [9.06624984741211, 3.514145851135254, -8.757630348205566], [9.19124984741211, 3.514145851135254, -8.54112434387207], [9.25595474243164, 3.514145851135254, -8.299642562866211], [9.320659637451172, 3.514145851135254, -8.058160781860352], [9.320659637451172, 3.514145851135254, -7.808160781860352], [9.320659637451172, 3.514145851135254, -7.558160781860352], [9.320659637451172, 3.514145851135254, -7.308160781860352], [9.320659637451172, 3.514145851135254, -7.058160781860352], [9.320659637451172, 3.514145851135254, -6.808160781860352], [9.320659637451172, 3.514145851135254, -6.558160781860352], [9.320659637451172, 3.514145851135254, -6.308160781860352], [9.320659637451172, 3.514145851135254, -6.058160781860352], [9.320659637451172, 3.514145851135254, -5.808160781860352], [9.320659637451172, 3.514145851135254, -5.558160781860352], [9.104153633117676, 3.514145851135254, -5.433160781860352], [8.88764762878418, 3.514145851135254, -5.308160781860352], [8.671141624450684, 3.514145851135254, -5.183160781860352], [8.429659843444824, 3.514145851135254, -5.11845588684082], [8.364954948425293, 3.514145851135254, -4.876974582672119], [8.364954948425293, 3.514145851135254, -4.626974582672119], [8.411127090454102, 3.514145851135254, -4.371593475341797], [8.411127090454102, 3.514145851135254, -4.121593475341797]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 2, 1, 2, 1, 3, 1, 0]"}
{"id": 228, "episode_id": "229", "scene_id": "1pXnuDYAj8r", "instruction": "Turn to the right until you face the bedroom and a bed. Walk toward the bed and turn right toward the bedroom door. Turn right and walk into the hall and turn left. Walk to the top of the stairs. ", "start_position": [8.06624984741211, 3.514145851135254, -8.757630348205566], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [8.411459922790527, 3.514145851135254, -3.8118999004364014], "goal_radius": 3.0, "reference_path": "[[8.06624984741211, 3.514145851135254, -8.757630348205566], [9.462730407714844, 3.514145851135254, -8.81820011138916], [9.370229721069336, 3.514145851135254, -7.28941011428833], [9.304389953613281, 3.514145851135254, -5.129980087280273], [8.137229919433594, 3.514145851135254, -5.067240238189697], [8.411459922790527, 3.514145851135254, -3.8118999004364014]]", "geodesic_distance": 5.7356672286987305, "gt_locations": "[[8.06624984741211, 3.514145851135254, -8.757630348205566], [8.31624984741211, 3.514145851135254, -8.757630348205566], [8.56624984741211, 3.514145851135254, -8.757630348205566], [8.81624984741211, 3.514145851135254, -8.757630348205566], [9.06624984741211, 3.514145851135254, -8.757630348205566], [9.19124984741211, 3.514145851135254, -8.54112434387207], [9.25595474243164, 3.514145851135254, -8.299642562866211], [9.320659637451172, 3.514145851135254, -8.058160781860352], [9.320659637451172, 3.514145851135254, -7.808160781860352], [9.320659637451172, 3.514145851135254, -7.558160781860352], [9.320659637451172, 3.514145851135254, -7.308160781860352], [9.320659637451172, 3.514145851135254, -7.058160781860352], [9.320659637451172, 3.514145851135254, -6.808160781860352], [9.320659637451172, 3.514145851135254, -6.558160781860352], [9.320659637451172, 3.514145851135254, -6.308160781860352], [9.320659637451172, 3.514145851135254, -6.058160781860352], [9.320659637451172, 3.514145851135254, -5.808160781860352], [9.320659637451172, 3.514145851135254, -5.558160781860352], [9.104153633117676, 3.514145851135254, -5.433160781860352], [8.88764762878418, 3.514145851135254, -5.308160781860352], [8.671141624450684, 3.514145851135254, -5.183160781860352], [8.429659843444824, 3.514145851135254, -5.11845588684082], [8.364954948425293, 3.514145851135254, -4.876974582672119], [8.364954948425293, 3.514145851135254, -4.626974582672119], [8.411127090454102, 3.514145851135254, -4.371593475341797], [8.411127090454102, 3.514145851135254, -4.121593475341797]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 2, 1, 2, 1, 3, 1, 0]"}
{"id": 229, "episode_id": "230", "scene_id": "Vvot9Ly1tCj", "instruction": "With the couch behind you and the round table ahead and to the left, move forward towards the kitchen. Stop after you've passed the bar on your right. ", "start_position": [1.412750005722046, 0.04283595085144043, 0.2797429859638214], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-7.348080158233643, 0.04283595085144043, 0.21362300217151642], "goal_radius": 3.0, "reference_path": "[[1.412750005722046, 0.04283595085144043, 0.2797429859638214], [0.07337599992752075, 0.04283595085144043, 0.02169029973447323], [-3.6970698833465576, 0.04283595085144043, -0.8997319936752319], [-5.573400020599365, 0.04283595085144043, -0.44081100821495056], [-7.348080158233643, 0.04283595085144043, 0.21362300217151642]]", "geodesic_distance": 8.907291412353516, "gt_locations": "[[1.412750005722046, 0.04283595085144043, 0.2797429859638214], [1.1712684631347656, 0.04283595085144043, 0.2150382548570633], [0.9297869801521301, 0.04283595085144043, 0.15033352375030518], [0.6883054971694946, 0.04283595085144043, 0.08562879264354706], [0.44682401418685913, 0.04283595085144043, 0.02092406153678894], [0.20534251630306244, 0.04283595085144043, -0.04378066956996918], [-0.03613898158073425, 0.04283595085144043, -0.1084854006767273], [-0.27762049436569214, 0.04283595085144043, -0.1731901317834854], [-0.5191019773483276, 0.04283595085144043, -0.23789486289024353], [-0.7605834603309631, 0.04283595085144043, -0.30259960889816284], [-1.0020649433135986, 0.04283595085144043, -0.36730432510375977], [-1.243546485900879, 0.04283595085144043, -0.4320090413093567], [-1.4850280284881592, 0.04283595085144043, -0.4967137575149536], [-1.7265095710754395, 0.04283595085144043, -0.5614184737205505], [-1.9679911136627197, 0.04283595085144043, -0.6261231899261475], [-2.20947265625, 0.04283595085144043, -0.6908279061317444], [-2.4509541988372803, 0.04283595085144043, -0.7555326223373413], [-2.6924357414245605, 0.04283595085144043, -0.8202373385429382], [-2.9424357414245605, 0.04283595085144043, -0.8202372789382935], [-3.1924357414245605, 0.04283595085144043, -0.8202372789382935], [-3.433917284011841, 0.04283595085144043, -0.8849419951438904], [-3.675398826599121, 0.04283595085144043, -0.8202371597290039], [-3.9168803691864014, 0.04283595085144043, -0.7555323243141174], [-4.158361911773682, 0.04283595085144043, -0.690827488899231], [-4.408361911773682, 0.04283595085144043, -0.690827488899231], [-4.658361911773682, 0.04283595085144043, -0.690827488899231], [-4.899843215942383, 0.04283595085144043, -0.6261227130889893], [-5.141324520111084, 0.04283595085144043, -0.5614179372787476], [-5.382805824279785, 0.04283595085144043, -0.49671313166618347], [-5.624287128448486, 0.04283595085144043, -0.4320083260536194], [-5.8657684326171875, 0.04283595085144043, -0.3673035204410553], [-6.107249736785889, 0.04283595085144043, -0.3025987148284912], [-6.34873104095459, 0.04283595085144043, -0.23789390921592712], [-6.590212345123291, 0.04283595085144043, -0.17318910360336304], [-6.806718826293945, 0.04283595085144043, -0.04818907380104065], [-7.0232253074646, 0.04283595085144043, 0.07681095600128174]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 230, "episode_id": "231", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk past the dining table towards the kitchen.  Stop on the right side of the counter with the three bar stools. ", "start_position": [1.412750005722046, 0.04283595085144043, 0.2797429859638214], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-7.348080158233643, 0.04283595085144043, 0.21362300217151642], "goal_radius": 3.0, "reference_path": "[[1.412750005722046, 0.04283595085144043, 0.2797429859638214], [0.07337599992752075, 0.04283595085144043, 0.02169029973447323], [-3.6970698833465576, 0.04283595085144043, -0.8997319936752319], [-5.573400020599365, 0.04283595085144043, -0.44081100821495056], [-7.348080158233643, 0.04283595085144043, 0.21362300217151642]]", "geodesic_distance": 8.907291412353516, "gt_locations": "[[1.412750005722046, 0.04283595085144043, 0.2797429859638214], [1.1712684631347656, 0.04283595085144043, 0.2150382548570633], [0.9297869801521301, 0.04283595085144043, 0.15033352375030518], [0.6883054971694946, 0.04283595085144043, 0.08562879264354706], [0.44682401418685913, 0.04283595085144043, 0.02092406153678894], [0.20534251630306244, 0.04283595085144043, -0.04378066956996918], [-0.03613898158073425, 0.04283595085144043, -0.1084854006767273], [-0.27762049436569214, 0.04283595085144043, -0.1731901317834854], [-0.5191019773483276, 0.04283595085144043, -0.23789486289024353], [-0.7605834603309631, 0.04283595085144043, -0.30259960889816284], [-1.0020649433135986, 0.04283595085144043, -0.36730432510375977], [-1.243546485900879, 0.04283595085144043, -0.4320090413093567], [-1.4850280284881592, 0.04283595085144043, -0.4967137575149536], [-1.7265095710754395, 0.04283595085144043, -0.5614184737205505], [-1.9679911136627197, 0.04283595085144043, -0.6261231899261475], [-2.20947265625, 0.04283595085144043, -0.6908279061317444], [-2.4509541988372803, 0.04283595085144043, -0.7555326223373413], [-2.6924357414245605, 0.04283595085144043, -0.8202373385429382], [-2.9424357414245605, 0.04283595085144043, -0.8202372789382935], [-3.1924357414245605, 0.04283595085144043, -0.8202372789382935], [-3.433917284011841, 0.04283595085144043, -0.8849419951438904], [-3.675398826599121, 0.04283595085144043, -0.8202371597290039], [-3.9168803691864014, 0.04283595085144043, -0.7555323243141174], [-4.158361911773682, 0.04283595085144043, -0.690827488899231], [-4.408361911773682, 0.04283595085144043, -0.690827488899231], [-4.658361911773682, 0.04283595085144043, -0.690827488899231], [-4.899843215942383, 0.04283595085144043, -0.6261227130889893], [-5.141324520111084, 0.04283595085144043, -0.5614179372787476], [-5.382805824279785, 0.04283595085144043, -0.49671313166618347], [-5.624287128448486, 0.04283595085144043, -0.4320083260536194], [-5.8657684326171875, 0.04283595085144043, -0.3673035204410553], [-6.107249736785889, 0.04283595085144043, -0.3025987148284912], [-6.34873104095459, 0.04283595085144043, -0.23789390921592712], [-6.590212345123291, 0.04283595085144043, -0.17318910360336304], [-6.806718826293945, 0.04283595085144043, -0.04818907380104065], [-7.0232253074646, 0.04283595085144043, 0.07681095600128174]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 231, "episode_id": "232", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk straight until you pass a clear glass table and chairs then wait by the white marble table with the three grey benches. ", "start_position": [1.412750005722046, 0.04283595085144043, 0.2797429859638214], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-7.348080158233643, 0.04283595085144043, 0.21362300217151642], "goal_radius": 3.0, "reference_path": "[[1.412750005722046, 0.04283595085144043, 0.2797429859638214], [0.07337599992752075, 0.04283595085144043, 0.02169029973447323], [-3.6970698833465576, 0.04283595085144043, -0.8997319936752319], [-5.573400020599365, 0.04283595085144043, -0.44081100821495056], [-7.348080158233643, 0.04283595085144043, 0.21362300217151642]]", "geodesic_distance": 8.907291412353516, "gt_locations": "[[1.412750005722046, 0.04283595085144043, 0.2797429859638214], [1.1712684631347656, 0.04283595085144043, 0.2150382548570633], [0.9297869801521301, 0.04283595085144043, 0.15033352375030518], [0.6883054971694946, 0.04283595085144043, 0.08562879264354706], [0.44682401418685913, 0.04283595085144043, 0.02092406153678894], [0.20534251630306244, 0.04283595085144043, -0.04378066956996918], [-0.03613898158073425, 0.04283595085144043, -0.1084854006767273], [-0.27762049436569214, 0.04283595085144043, -0.1731901317834854], [-0.5191019773483276, 0.04283595085144043, -0.23789486289024353], [-0.7605834603309631, 0.04283595085144043, -0.30259960889816284], [-1.0020649433135986, 0.04283595085144043, -0.36730432510375977], [-1.243546485900879, 0.04283595085144043, -0.4320090413093567], [-1.4850280284881592, 0.04283595085144043, -0.4967137575149536], [-1.7265095710754395, 0.04283595085144043, -0.5614184737205505], [-1.9679911136627197, 0.04283595085144043, -0.6261231899261475], [-2.20947265625, 0.04283595085144043, -0.6908279061317444], [-2.4509541988372803, 0.04283595085144043, -0.7555326223373413], [-2.6924357414245605, 0.04283595085144043, -0.8202373385429382], [-2.9424357414245605, 0.04283595085144043, -0.8202372789382935], [-3.1924357414245605, 0.04283595085144043, -0.8202372789382935], [-3.433917284011841, 0.04283595085144043, -0.8849419951438904], [-3.675398826599121, 0.04283595085144043, -0.8202371597290039], [-3.9168803691864014, 0.04283595085144043, -0.7555323243141174], [-4.158361911773682, 0.04283595085144043, -0.690827488899231], [-4.408361911773682, 0.04283595085144043, -0.690827488899231], [-4.658361911773682, 0.04283595085144043, -0.690827488899231], [-4.899843215942383, 0.04283595085144043, -0.6261227130889893], [-5.141324520111084, 0.04283595085144043, -0.5614179372787476], [-5.382805824279785, 0.04283595085144043, -0.49671313166618347], [-5.624287128448486, 0.04283595085144043, -0.4320083260536194], [-5.8657684326171875, 0.04283595085144043, -0.3673035204410553], [-6.107249736785889, 0.04283595085144043, -0.3025987148284912], [-6.34873104095459, 0.04283595085144043, -0.23789390921592712], [-6.590212345123291, 0.04283595085144043, -0.17318910360336304], [-6.806718826293945, 0.04283595085144043, -0.04818907380104065], [-7.0232253074646, 0.04283595085144043, 0.07681095600128174]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 232, "episode_id": "233", "scene_id": "1pXnuDYAj8r", "instruction": "Go straight, pass the kitchen area then turn left and pass the table with chairs. Wait by the first column on your left. ", "start_position": [2.1001100540161133, 0.11414599418640137, 7.621799945831299], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [7.63838005065918, 0.11414599418640137, 2.1057400703430176], "goal_radius": 3.0, "reference_path": "[[2.1001100540161133, 0.11414599418640137, 7.621799945831299], [3.72012996673584, 0.11414599418640137, 7.675049781799316], [6.4357099533081055, 0.11414599418640137, 7.757599830627441], [7.619349956512451, 0.11414599418640137, 5.494649887084961], [7.63838005065918, 0.11414599418640137, 2.1057400703430176]]", "geodesic_distance": 8.22694206237793, "gt_locations": "[[2.1001100540161133, 0.11414599418640137, 7.621799945831299], [2.3501100540161133, 0.11414599418640137, 7.621799945831299], [2.6001100540161133, 0.11414599418640137, 7.621799945831299], [2.8501100540161133, 0.11414599418640137, 7.621799945831299], [3.1001100540161133, 0.11414599418640137, 7.621799945831299], [3.3501100540161133, 0.11414599418640137, 7.621799945831299], [3.6001100540161133, 0.11414599418640137, 7.621799945831299], [3.8501100540161133, 0.11414599418640137, 7.621799945831299], [4.100110054016113, 0.11414599418640137, 7.621799945831299], [4.350110054016113, 0.11414599418640137, 7.621799945831299], [4.600110054016113, 0.11414599418640137, 7.621799945831299], [4.850110054016113, 0.11414599418640137, 7.621799945831299], [5.100110054016113, 0.11414599418640137, 7.621799945831299], [5.3415913581848145, 0.11414599418640137, 7.68650484085083], [5.5915913581848145, 0.11414599418640137, 7.68650484085083], [5.8415913581848145, 0.11414599418640137, 7.68650484085083], [6.0915913581848145, 0.11414599418640137, 7.68650484085083], [6.308097839355469, 0.11414599418640137, 7.56150484085083], [6.524604320526123, 0.11414599418640137, 7.43650484085083], [6.742462635040283, 0.11414599418640137, 7.280268669128418], [6.867462635040283, 0.11414599418640137, 7.063762187957764], [6.992462635040283, 0.11414599418640137, 6.847255706787109], [7.117462635040283, 0.11414599418640137, 6.630749225616455], [7.242462635040283, 0.11414599418640137, 6.414242744445801], [7.367462635040283, 0.11414599418640137, 6.1977362632751465], [7.4321675300598145, 0.11414599418640137, 5.956254959106445], [7.4321675300598145, 0.11414599418640137, 5.706254959106445], [7.4321675300598145, 0.11414599418640137, 5.456254959106445], [7.4321675300598145, 0.11414599418640137, 5.206254959106445], [7.4321675300598145, 0.11414599418640137, 4.956254959106445], [7.4321675300598145, 0.11414599418640137, 4.706254959106445], [7.4321675300598145, 0.11414599418640137, 4.456254959106445], [7.4321675300598145, 0.11414599418640137, 4.206254959106445], [7.4321675300598145, 0.11414599418640137, 3.9562549591064453], [7.4321675300598145, 0.11414599418640137, 3.7062549591064453], [7.4321675300598145, 0.11414599418640137, 3.4562549591064453], [7.4321675300598145, 0.11414599418640137, 3.2062549591064453], [7.496872425079346, 0.11414599418640137, 2.964773416519165], [7.561577320098877, 0.11414599418640137, 2.7232918739318848], [7.626282215118408, 0.11414599418640137, 2.4818103313446045]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 2, 2, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 233, "episode_id": "234", "scene_id": "1pXnuDYAj8r", "instruction": "Head forward past the kitchen and take the first left at the dining table.  Wait in the hallway between the living room and dining room. ", "start_position": [2.1001100540161133, 0.11414599418640137, 7.621799945831299], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [7.63838005065918, 0.11414599418640137, 2.1057400703430176], "goal_radius": 3.0, "reference_path": "[[2.1001100540161133, 0.11414599418640137, 7.621799945831299], [3.72012996673584, 0.11414599418640137, 7.675049781799316], [6.4357099533081055, 0.11414599418640137, 7.757599830627441], [7.619349956512451, 0.11414599418640137, 5.494649887084961], [7.63838005065918, 0.11414599418640137, 2.1057400703430176]]", "geodesic_distance": 8.22694206237793, "gt_locations": "[[2.1001100540161133, 0.11414599418640137, 7.621799945831299], [2.3501100540161133, 0.11414599418640137, 7.621799945831299], [2.6001100540161133, 0.11414599418640137, 7.621799945831299], [2.8501100540161133, 0.11414599418640137, 7.621799945831299], [3.1001100540161133, 0.11414599418640137, 7.621799945831299], [3.3501100540161133, 0.11414599418640137, 7.621799945831299], [3.6001100540161133, 0.11414599418640137, 7.621799945831299], [3.8501100540161133, 0.11414599418640137, 7.621799945831299], [4.100110054016113, 0.11414599418640137, 7.621799945831299], [4.350110054016113, 0.11414599418640137, 7.621799945831299], [4.600110054016113, 0.11414599418640137, 7.621799945831299], [4.850110054016113, 0.11414599418640137, 7.621799945831299], [5.100110054016113, 0.11414599418640137, 7.621799945831299], [5.3415913581848145, 0.11414599418640137, 7.68650484085083], [5.5915913581848145, 0.11414599418640137, 7.68650484085083], [5.8415913581848145, 0.11414599418640137, 7.68650484085083], [6.0915913581848145, 0.11414599418640137, 7.68650484085083], [6.308097839355469, 0.11414599418640137, 7.56150484085083], [6.524604320526123, 0.11414599418640137, 7.43650484085083], [6.742462635040283, 0.11414599418640137, 7.280268669128418], [6.867462635040283, 0.11414599418640137, 7.063762187957764], [6.992462635040283, 0.11414599418640137, 6.847255706787109], [7.117462635040283, 0.11414599418640137, 6.630749225616455], [7.242462635040283, 0.11414599418640137, 6.414242744445801], [7.367462635040283, 0.11414599418640137, 6.1977362632751465], [7.4321675300598145, 0.11414599418640137, 5.956254959106445], [7.4321675300598145, 0.11414599418640137, 5.706254959106445], [7.4321675300598145, 0.11414599418640137, 5.456254959106445], [7.4321675300598145, 0.11414599418640137, 5.206254959106445], [7.4321675300598145, 0.11414599418640137, 4.956254959106445], [7.4321675300598145, 0.11414599418640137, 4.706254959106445], [7.4321675300598145, 0.11414599418640137, 4.456254959106445], [7.4321675300598145, 0.11414599418640137, 4.206254959106445], [7.4321675300598145, 0.11414599418640137, 3.9562549591064453], [7.4321675300598145, 0.11414599418640137, 3.7062549591064453], [7.4321675300598145, 0.11414599418640137, 3.4562549591064453], [7.4321675300598145, 0.11414599418640137, 3.2062549591064453], [7.496872425079346, 0.11414599418640137, 2.964773416519165], [7.561577320098877, 0.11414599418640137, 2.7232918739318848], [7.626282215118408, 0.11414599418640137, 2.4818103313446045]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 2, 2, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 234, "episode_id": "235", "scene_id": "1pXnuDYAj8r", "instruction": "Walk straight ahead through the kitchen. Once you pass the desk area, turn left. Walk forward and stop beside the column before you reach the front door. ", "start_position": [2.1001100540161133, 0.11414599418640137, 7.621799945831299], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [7.63838005065918, 0.11414599418640137, 2.1057400703430176], "goal_radius": 3.0, "reference_path": "[[2.1001100540161133, 0.11414599418640137, 7.621799945831299], [3.72012996673584, 0.11414599418640137, 7.675049781799316], [6.4357099533081055, 0.11414599418640137, 7.757599830627441], [7.619349956512451, 0.11414599418640137, 5.494649887084961], [7.63838005065918, 0.11414599418640137, 2.1057400703430176]]", "geodesic_distance": 8.22694206237793, "gt_locations": "[[2.1001100540161133, 0.11414599418640137, 7.621799945831299], [2.3501100540161133, 0.11414599418640137, 7.621799945831299], [2.6001100540161133, 0.11414599418640137, 7.621799945831299], [2.8501100540161133, 0.11414599418640137, 7.621799945831299], [3.1001100540161133, 0.11414599418640137, 7.621799945831299], [3.3501100540161133, 0.11414599418640137, 7.621799945831299], [3.6001100540161133, 0.11414599418640137, 7.621799945831299], [3.8501100540161133, 0.11414599418640137, 7.621799945831299], [4.100110054016113, 0.11414599418640137, 7.621799945831299], [4.350110054016113, 0.11414599418640137, 7.621799945831299], [4.600110054016113, 0.11414599418640137, 7.621799945831299], [4.850110054016113, 0.11414599418640137, 7.621799945831299], [5.100110054016113, 0.11414599418640137, 7.621799945831299], [5.3415913581848145, 0.11414599418640137, 7.68650484085083], [5.5915913581848145, 0.11414599418640137, 7.68650484085083], [5.8415913581848145, 0.11414599418640137, 7.68650484085083], [6.0915913581848145, 0.11414599418640137, 7.68650484085083], [6.308097839355469, 0.11414599418640137, 7.56150484085083], [6.524604320526123, 0.11414599418640137, 7.43650484085083], [6.742462635040283, 0.11414599418640137, 7.280268669128418], [6.867462635040283, 0.11414599418640137, 7.063762187957764], [6.992462635040283, 0.11414599418640137, 6.847255706787109], [7.117462635040283, 0.11414599418640137, 6.630749225616455], [7.242462635040283, 0.11414599418640137, 6.414242744445801], [7.367462635040283, 0.11414599418640137, 6.1977362632751465], [7.4321675300598145, 0.11414599418640137, 5.956254959106445], [7.4321675300598145, 0.11414599418640137, 5.706254959106445], [7.4321675300598145, 0.11414599418640137, 5.456254959106445], [7.4321675300598145, 0.11414599418640137, 5.206254959106445], [7.4321675300598145, 0.11414599418640137, 4.956254959106445], [7.4321675300598145, 0.11414599418640137, 4.706254959106445], [7.4321675300598145, 0.11414599418640137, 4.456254959106445], [7.4321675300598145, 0.11414599418640137, 4.206254959106445], [7.4321675300598145, 0.11414599418640137, 3.9562549591064453], [7.4321675300598145, 0.11414599418640137, 3.7062549591064453], [7.4321675300598145, 0.11414599418640137, 3.4562549591064453], [7.4321675300598145, 0.11414599418640137, 3.2062549591064453], [7.496872425079346, 0.11414599418640137, 2.964773416519165], [7.561577320098877, 0.11414599418640137, 2.7232918739318848], [7.626282215118408, 0.11414599418640137, 2.4818103313446045]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 2, 2, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 235, "episode_id": "236", "scene_id": "b8cTxDM8gDG", "instruction": "Take a left and walk through the doorway. Walk through the bathroom and into the bedroom. Wait next to the bed. ", "start_position": [-7.420119762420654, 0.453275203704834, 1.258239984512329], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.1153899431228638, 0.05327486991882324, 1.8117599487304688], "goal_radius": 3.0, "reference_path": "[[-7.420119762420654, 0.453275203704834, 1.258239984512329], [-5.643360137939453, 0.13108748197555542, 1.9591399431228638], [-4.345479965209961, 0.05327486991882324, 1.9329299926757812], [-2.6407699584960938, 0.05327486991882324, 1.919450044631958], [-1.1153899431228638, 0.05327486991882324, 1.8117599487304688]]", "geodesic_distance": 6.402055740356445, "gt_locations": "[[-7.420119762420654, 0.453275203704834, 1.258239984512329], [-7.243342876434326, 0.453275203704834, 1.4350166320800781], [-7.001861572265625, 0.453275203704834, 1.4997215270996094], [-6.760380268096924, 0.453275203704834, 1.5644264221191406], [-6.518898963928223, 0.3612252175807953, 1.6291313171386719], [-6.2774176597595215, 0.23581434786319733, 1.6938362121582031], [-6.03593635559082, 0.20120908319950104, 1.7585411071777344], [-5.794455051422119, 0.16369163990020752, 1.8232460021972656], [-5.544455051422119, 0.11245587468147278, 1.8232460021972656], [-5.294455051422119, 0.061220090836286545, 1.8232460021972656], [-5.044455051422119, 0.05327486991882324, 1.8232460021972656], [-4.794455051422119, 0.05327486991882324, 1.8232460021972656], [-4.544455051422119, 0.05327486991882324, 1.8232460021972656], [-4.294455051422119, 0.05327486991882324, 1.8232460021972656], [-4.044455051422119, 0.05327486991882324, 1.8232460021972656], [-3.794455051422119, 0.05327486991882324, 1.8232460021972656], [-3.544455051422119, 0.05327486991882324, 1.8232460021972656], [-3.294455051422119, 0.05327486991882324, 1.8232460021972656], [-3.044455051422119, 0.05327486991882324, 1.8232460021972656], [-2.794455051422119, 0.05327486991882324, 1.8232460021972656], [-2.544455051422119, 0.05327486991882324, 1.8232460021972656], [-2.294455051422119, 0.05327486991882324, 1.8232460021972656], [-2.044455051422119, 0.05327486991882324, 1.8232460021972656], [-1.7944550514221191, 0.05327486991882324, 1.8232460021972656], [-1.5444550514221191, 0.05327486991882324, 1.8232460021972656]]", "gt_actions": "[2, 2, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 236, "episode_id": "237", "scene_id": "b8cTxDM8gDG", "instruction": "Exit the bedroom. Take a sharp left. Walk down two steps. Walk forward into the bathroom. Continue forward to the bedroom. Stop at bedroom door. ", "start_position": [-7.420119762420654, 0.453275203704834, 1.258239984512329], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.1153899431228638, 0.05327486991882324, 1.8117599487304688], "goal_radius": 3.0, "reference_path": "[[-7.420119762420654, 0.453275203704834, 1.258239984512329], [-5.643360137939453, 0.13108748197555542, 1.9591399431228638], [-4.345479965209961, 0.05327486991882324, 1.9329299926757812], [-2.6407699584960938, 0.05327486991882324, 1.919450044631958], [-1.1153899431228638, 0.05327486991882324, 1.8117599487304688]]", "geodesic_distance": 6.402055740356445, "gt_locations": "[[-7.420119762420654, 0.453275203704834, 1.258239984512329], [-7.243342876434326, 0.453275203704834, 1.4350166320800781], [-7.001861572265625, 0.453275203704834, 1.4997215270996094], [-6.760380268096924, 0.453275203704834, 1.5644264221191406], [-6.518898963928223, 0.3612252175807953, 1.6291313171386719], [-6.2774176597595215, 0.23581434786319733, 1.6938362121582031], [-6.03593635559082, 0.20120908319950104, 1.7585411071777344], [-5.794455051422119, 0.16369163990020752, 1.8232460021972656], [-5.544455051422119, 0.11245587468147278, 1.8232460021972656], [-5.294455051422119, 0.061220090836286545, 1.8232460021972656], [-5.044455051422119, 0.05327486991882324, 1.8232460021972656], [-4.794455051422119, 0.05327486991882324, 1.8232460021972656], [-4.544455051422119, 0.05327486991882324, 1.8232460021972656], [-4.294455051422119, 0.05327486991882324, 1.8232460021972656], [-4.044455051422119, 0.05327486991882324, 1.8232460021972656], [-3.794455051422119, 0.05327486991882324, 1.8232460021972656], [-3.544455051422119, 0.05327486991882324, 1.8232460021972656], [-3.294455051422119, 0.05327486991882324, 1.8232460021972656], [-3.044455051422119, 0.05327486991882324, 1.8232460021972656], [-2.794455051422119, 0.05327486991882324, 1.8232460021972656], [-2.544455051422119, 0.05327486991882324, 1.8232460021972656], [-2.294455051422119, 0.05327486991882324, 1.8232460021972656], [-2.044455051422119, 0.05327486991882324, 1.8232460021972656], [-1.7944550514221191, 0.05327486991882324, 1.8232460021972656], [-1.5444550514221191, 0.05327486991882324, 1.8232460021972656]]", "gt_actions": "[2, 2, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 237, "episode_id": "238", "scene_id": "b8cTxDM8gDG", "instruction": "Walk through the bathroom into the room with the double beds. ", "start_position": [-7.420119762420654, 0.453275203704834, 1.258239984512329], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-1.1153899431228638, 0.05327486991882324, 1.8117599487304688], "goal_radius": 3.0, "reference_path": "[[-7.420119762420654, 0.453275203704834, 1.258239984512329], [-5.643360137939453, 0.13108748197555542, 1.9591399431228638], [-4.345479965209961, 0.05327486991882324, 1.9329299926757812], [-2.6407699584960938, 0.05327486991882324, 1.919450044631958], [-1.1153899431228638, 0.05327486991882324, 1.8117599487304688]]", "geodesic_distance": 6.402055740356445, "gt_locations": "[[-7.420119762420654, 0.453275203704834, 1.258239984512329], [-7.243342876434326, 0.453275203704834, 1.4350166320800781], [-7.001861572265625, 0.453275203704834, 1.4997215270996094], [-6.760380268096924, 0.453275203704834, 1.5644264221191406], [-6.518898963928223, 0.3612252175807953, 1.6291313171386719], [-6.2774176597595215, 0.23581434786319733, 1.6938362121582031], [-6.03593635559082, 0.20120908319950104, 1.7585411071777344], [-5.794455051422119, 0.16369163990020752, 1.8232460021972656], [-5.544455051422119, 0.11245587468147278, 1.8232460021972656], [-5.294455051422119, 0.061220090836286545, 1.8232460021972656], [-5.044455051422119, 0.05327486991882324, 1.8232460021972656], [-4.794455051422119, 0.05327486991882324, 1.8232460021972656], [-4.544455051422119, 0.05327486991882324, 1.8232460021972656], [-4.294455051422119, 0.05327486991882324, 1.8232460021972656], [-4.044455051422119, 0.05327486991882324, 1.8232460021972656], [-3.794455051422119, 0.05327486991882324, 1.8232460021972656], [-3.544455051422119, 0.05327486991882324, 1.8232460021972656], [-3.294455051422119, 0.05327486991882324, 1.8232460021972656], [-3.044455051422119, 0.05327486991882324, 1.8232460021972656], [-2.794455051422119, 0.05327486991882324, 1.8232460021972656], [-2.544455051422119, 0.05327486991882324, 1.8232460021972656], [-2.294455051422119, 0.05327486991882324, 1.8232460021972656], [-2.044455051422119, 0.05327486991882324, 1.8232460021972656], [-1.7944550514221191, 0.05327486991882324, 1.8232460021972656], [-1.5444550514221191, 0.05327486991882324, 1.8232460021972656]]", "gt_actions": "[2, 2, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 238, "episode_id": "239", "scene_id": "mJXqzFtmKg4", "instruction": "Walk toward the fireplace.  Exit the room and turn left.  Stop in front of the double doors and tall potted plant. ", "start_position": [-2.3141000270843506, 0.20332103967666626, -20.138900756835938], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [2.1868300437927246, 0.003321051597595215, -13.776000022888184], "goal_radius": 3.0, "reference_path": "[[-2.3141000270843506, 0.20332103967666626, -20.138900756835938], [-0.36907899379730225, 0.018511831760406494, -16.33799934387207], [-0.3698990046977997, 0.003321051597595215, -15.375], [-0.3586759865283966, 0.003321051597595215, -14.73009967803955], [0.6850709915161133, 0.003321051597595215, -13.719799995422363], [2.1868300437927246, 0.003321051597595215, -13.776000022888184]]", "geodesic_distance": 8.753811836242676, "gt_locations": "[[-2.3141000270843506, 0.20332103967666626, -20.138900756835938], [-2.1373233795166016, 0.20332103967666626, -19.96212387084961], [-1.960546612739563, 0.20332103967666626, -19.78534698486328], [-1.7837698459625244, 0.20332103967666626, -19.608570098876953], [-1.5672634840011597, 0.20332103967666626, -19.483570098876953], [-1.350757122039795, 0.20332103967666626, -19.358570098876953], [-1.1739803552627563, 0.17689886689186096, -19.181793212890625], [-0.9972036480903625, 0.08851028233766556, -19.005016326904297], [-0.8722035884857178, 0.05243629217147827, -18.788509368896484], [-0.747203528881073, 0.13147000968456268, -18.572002410888672], [-0.6824987530708313, 0.13190323114395142, -18.330520629882812], [-0.6177939772605896, 0.20332103967666626, -18.089038848876953], [-0.5530892014503479, 0.1855405569076538, -17.847557067871094], [-0.4883844256401062, 0.12442974001169205, -17.606075286865234], [-0.4236796498298645, 0.09355884790420532, -17.364593505859375], [-0.4236796200275421, 0.09079825133085251, -17.114593505859375], [-0.4236795902252197, 0.09463457763195038, -16.864593505859375], [-0.42367956042289734, 0.09847091138362885, -16.614593505859375], [-0.42367953062057495, 0.014227122068405151, -16.364593505859375], [-0.42367950081825256, 0.003321051597595215, -16.114593505859375], [-0.4236794710159302, 0.003321051597595215, -15.864593505859375], [-0.4236794412136078, 0.003321051597595215, -15.614593505859375], [-0.4236794114112854, 0.003321051597595215, -15.364593505859375], [-0.423679381608963, 0.003321051597595215, -15.114593505859375], [-0.29867932200431824, 0.003321051597595215, -14.898087501525879], [-0.17367926239967346, 0.003321051597595215, -14.681581497192383], [-0.048679202795028687, 0.003321051597595215, -14.465075492858887], [0.1280975192785263, 0.003321051597595215, -14.288298606872559], [0.3048742413520813, 0.003321051597595215, -14.11152172088623], [0.4816509485244751, 0.003321051597595215, -13.934744834899902], [0.7231323719024658, 0.003321051597595215, -13.870039939880371], [0.9731323719024658, 0.003321051597595215, -13.870039939880371], [1.2231323719024658, 0.003321051597595215, -13.870039939880371], [1.4731323719024658, 0.003321051597595215, -13.870039939880371], [1.7231323719024658, 0.003321051597595215, -13.870039939880371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 2, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 239, "episode_id": "240", "scene_id": "mJXqzFtmKg4", "instruction": "Exit the office and then turn left. Go down the hallway to the left and wait right by the vase that is being held by metal base with the brown plant. ", "start_position": [-2.3141000270843506, 0.20332103967666626, -20.138900756835938], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [2.1868300437927246, 0.003321051597595215, -13.776000022888184], "goal_radius": 3.0, "reference_path": "[[-2.3141000270843506, 0.20332103967666626, -20.138900756835938], [-0.36907899379730225, 0.018511831760406494, -16.33799934387207], [-0.3698990046977997, 0.003321051597595215, -15.375], [-0.3586759865283966, 0.003321051597595215, -14.73009967803955], [0.6850709915161133, 0.003321051597595215, -13.719799995422363], [2.1868300437927246, 0.003321051597595215, -13.776000022888184]]", "geodesic_distance": 8.753811836242676, "gt_locations": "[[-2.3141000270843506, 0.20332103967666626, -20.138900756835938], [-2.1373233795166016, 0.20332103967666626, -19.96212387084961], [-1.960546612739563, 0.20332103967666626, -19.78534698486328], [-1.7837698459625244, 0.20332103967666626, -19.608570098876953], [-1.5672634840011597, 0.20332103967666626, -19.483570098876953], [-1.350757122039795, 0.20332103967666626, -19.358570098876953], [-1.1739803552627563, 0.17689886689186096, -19.181793212890625], [-0.9972036480903625, 0.08851028233766556, -19.005016326904297], [-0.8722035884857178, 0.05243629217147827, -18.788509368896484], [-0.747203528881073, 0.13147000968456268, -18.572002410888672], [-0.6824987530708313, 0.13190323114395142, -18.330520629882812], [-0.6177939772605896, 0.20332103967666626, -18.089038848876953], [-0.5530892014503479, 0.1855405569076538, -17.847557067871094], [-0.4883844256401062, 0.12442974001169205, -17.606075286865234], [-0.4236796498298645, 0.09355884790420532, -17.364593505859375], [-0.4236796200275421, 0.09079825133085251, -17.114593505859375], [-0.4236795902252197, 0.09463457763195038, -16.864593505859375], [-0.42367956042289734, 0.09847091138362885, -16.614593505859375], [-0.42367953062057495, 0.014227122068405151, -16.364593505859375], [-0.42367950081825256, 0.003321051597595215, -16.114593505859375], [-0.4236794710159302, 0.003321051597595215, -15.864593505859375], [-0.4236794412136078, 0.003321051597595215, -15.614593505859375], [-0.4236794114112854, 0.003321051597595215, -15.364593505859375], [-0.423679381608963, 0.003321051597595215, -15.114593505859375], [-0.29867932200431824, 0.003321051597595215, -14.898087501525879], [-0.17367926239967346, 0.003321051597595215, -14.681581497192383], [-0.048679202795028687, 0.003321051597595215, -14.465075492858887], [0.1280975192785263, 0.003321051597595215, -14.288298606872559], [0.3048742413520813, 0.003321051597595215, -14.11152172088623], [0.4816509485244751, 0.003321051597595215, -13.934744834899902], [0.7231323719024658, 0.003321051597595215, -13.870039939880371], [0.9731323719024658, 0.003321051597595215, -13.870039939880371], [1.2231323719024658, 0.003321051597595215, -13.870039939880371], [1.4731323719024658, 0.003321051597595215, -13.870039939880371], [1.7231323719024658, 0.003321051597595215, -13.870039939880371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 2, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 240, "episode_id": "241", "scene_id": "mJXqzFtmKg4", "instruction": "Exit study and turn left. Stop at double doors and tall planter. ", "start_position": [-2.3141000270843506, 0.20332103967666626, -20.138900756835938], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [2.1868300437927246, 0.003321051597595215, -13.776000022888184], "goal_radius": 3.0, "reference_path": "[[-2.3141000270843506, 0.20332103967666626, -20.138900756835938], [-0.36907899379730225, 0.018511831760406494, -16.33799934387207], [-0.3698990046977997, 0.003321051597595215, -15.375], [-0.3586759865283966, 0.003321051597595215, -14.73009967803955], [0.6850709915161133, 0.003321051597595215, -13.719799995422363], [2.1868300437927246, 0.003321051597595215, -13.776000022888184]]", "geodesic_distance": 8.753811836242676, "gt_locations": "[[-2.3141000270843506, 0.20332103967666626, -20.138900756835938], [-2.1373233795166016, 0.20332103967666626, -19.96212387084961], [-1.960546612739563, 0.20332103967666626, -19.78534698486328], [-1.7837698459625244, 0.20332103967666626, -19.608570098876953], [-1.5672634840011597, 0.20332103967666626, -19.483570098876953], [-1.350757122039795, 0.20332103967666626, -19.358570098876953], [-1.1739803552627563, 0.17689886689186096, -19.181793212890625], [-0.9972036480903625, 0.08851028233766556, -19.005016326904297], [-0.8722035884857178, 0.05243629217147827, -18.788509368896484], [-0.747203528881073, 0.13147000968456268, -18.572002410888672], [-0.6824987530708313, 0.13190323114395142, -18.330520629882812], [-0.6177939772605896, 0.20332103967666626, -18.089038848876953], [-0.5530892014503479, 0.1855405569076538, -17.847557067871094], [-0.4883844256401062, 0.12442974001169205, -17.606075286865234], [-0.4236796498298645, 0.09355884790420532, -17.364593505859375], [-0.4236796200275421, 0.09079825133085251, -17.114593505859375], [-0.4236795902252197, 0.09463457763195038, -16.864593505859375], [-0.42367956042289734, 0.09847091138362885, -16.614593505859375], [-0.42367953062057495, 0.014227122068405151, -16.364593505859375], [-0.42367950081825256, 0.003321051597595215, -16.114593505859375], [-0.4236794710159302, 0.003321051597595215, -15.864593505859375], [-0.4236794412136078, 0.003321051597595215, -15.614593505859375], [-0.4236794114112854, 0.003321051597595215, -15.364593505859375], [-0.423679381608963, 0.003321051597595215, -15.114593505859375], [-0.29867932200431824, 0.003321051597595215, -14.898087501525879], [-0.17367926239967346, 0.003321051597595215, -14.681581497192383], [-0.048679202795028687, 0.003321051597595215, -14.465075492858887], [0.1280975192785263, 0.003321051597595215, -14.288298606872559], [0.3048742413520813, 0.003321051597595215, -14.11152172088623], [0.4816509485244751, 0.003321051597595215, -13.934744834899902], [0.7231323719024658, 0.003321051597595215, -13.870039939880371], [0.9731323719024658, 0.003321051597595215, -13.870039939880371], [1.2231323719024658, 0.003321051597595215, -13.870039939880371], [1.4731323719024658, 0.003321051597595215, -13.870039939880371], [1.7231323719024658, 0.003321051597595215, -13.870039939880371]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 2, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 241, "episode_id": "242", "scene_id": "r47D5H71a5s", "instruction": "Exit the room then go slightly left and straight until you get to the treadmill and wait there. ", "start_position": [16.553600311279297, 0.09863299131393433, -10.978699684143066], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [8.938150405883789, 0.09863299131393433, -6.811880111694336], "goal_radius": 3.0, "reference_path": "[[16.553600311279297, 0.09863299131393433, -10.978699684143066], [17.26729965209961, 0.09863299131393433, -9.591890335083008], [15.469099998474121, 0.09863299131393433, -9.147879600524902], [14.441100120544434, 0.09863299131393433, -8.508560180664062], [13.258000373840332, 0.09863299131393433, -8.077159881591797], [11.768199920654297, 0.09863299131393433, -7.3206400871276855], [8.938150405883789, 0.09863299131393433, -6.811880111694336]]", "geodesic_distance": 9.920857429504395, "gt_locations": "[[16.553600311279297, 0.09863299131393433, -10.978699684143066], [16.730377197265625, 0.09863299131393433, -10.801922798156738], [16.907154083251953, 0.09863299131393433, -10.62514591217041], [17.08393096923828, 0.09863299131393433, -10.448369026184082], [17.26070785522461, 0.09863299131393433, -10.271592140197754], [17.437484741210938, 0.09863299131393433, -10.094815254211426], [17.437484741210938, 0.09863299131393433, -9.844815254211426], [17.312484741210938, 0.09863299131393433, -9.62830924987793], [17.187484741210938, 0.09863299131393433, -9.411803245544434], [17.031295776367188, 0.09863299131393433, -9.214437484741211], [16.789813995361328, 0.09863299131393433, -9.14973258972168], [16.539813995361328, 0.09863299131393433, -9.14973258972168], [16.289813995361328, 0.09863299131393433, -9.14973258972168], [16.039813995361328, 0.09863299131393433, -9.14973258972168], [15.789813995361328, 0.09863299131393433, -9.14973258972168], [15.573307991027832, 0.09863299131393433, -9.02473258972168], [15.331826210021973, 0.09863299131393433, -8.960027694702148], [15.115320205688477, 0.09863299131393433, -8.835027694702148], [14.89881420135498, 0.09863299131393433, -8.710027694702148], [14.682308197021484, 0.09863299131393433, -8.585027694702148], [14.440826416015625, 0.09863299131393433, -8.520322799682617], [14.199344635009766, 0.09863299131393433, -8.455617904663086], [13.957862854003906, 0.09863299131393433, -8.390913009643555], [13.716381072998047, 0.09863299131393433, -8.326208114624023], [13.49987506866455, 0.09863299131393433, -8.201208114624023], [13.283369064331055, 0.09863299131393433, -8.076208114624023], [13.041887283325195, 0.09863299131393433, -8.011503219604492], [12.8253812789917, 0.09863299131393433, -7.886503219604492], [12.608875274658203, 0.09863299131393433, -7.761503219604492], [12.392369270324707, 0.09863299131393433, -7.636503219604492], [12.175863265991211, 0.09863299131393433, -7.511503219604492], [11.934381484985352, 0.09863299131393433, -7.446798324584961], [11.692899703979492, 0.09863299131393433, -7.38209342956543], [11.451417922973633, 0.09863299131393433, -7.317388534545898], [11.209936141967773, 0.09863299131393433, -7.252683639526367], [10.968454360961914, 0.09863299131393433, -7.187978744506836], [10.726972579956055, 0.09863299131393433, -7.123273849487305], [10.485490798950195, 0.09863299131393433, -7.058568954467773], [10.244009017944336, 0.09863299131393433, -6.993864059448242], [10.002527236938477, 0.09863299131393433, -6.929159164428711], [9.761045455932617, 0.09863299131393433, -6.86445426940918], [9.511045455932617, 0.09863299131393433, -6.86445426940918], [9.261045455932617, 0.09863299131393433, -6.86445426940918]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 3, 3, 3, 1, 3, 3, 1, 1, 3, 1, 3, 3, 1, 3, 1, 1, 1, 1, 2, 2, 1, 3, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 242, "episode_id": "243", "scene_id": "r47D5H71a5s", "instruction": "Walk through the door and continue straight toward the treadmill. Stop beside the first treadmill you arrive at. ", "start_position": [16.553600311279297, 0.09863299131393433, -10.978699684143066], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [8.938150405883789, 0.09863299131393433, -6.811880111694336], "goal_radius": 3.0, "reference_path": "[[16.553600311279297, 0.09863299131393433, -10.978699684143066], [17.26729965209961, 0.09863299131393433, -9.591890335083008], [15.469099998474121, 0.09863299131393433, -9.147879600524902], [14.441100120544434, 0.09863299131393433, -8.508560180664062], [13.258000373840332, 0.09863299131393433, -8.077159881591797], [11.768199920654297, 0.09863299131393433, -7.3206400871276855], [8.938150405883789, 0.09863299131393433, -6.811880111694336]]", "geodesic_distance": 9.920857429504395, "gt_locations": "[[16.553600311279297, 0.09863299131393433, -10.978699684143066], [16.730377197265625, 0.09863299131393433, -10.801922798156738], [16.907154083251953, 0.09863299131393433, -10.62514591217041], [17.08393096923828, 0.09863299131393433, -10.448369026184082], [17.26070785522461, 0.09863299131393433, -10.271592140197754], [17.437484741210938, 0.09863299131393433, -10.094815254211426], [17.437484741210938, 0.09863299131393433, -9.844815254211426], [17.312484741210938, 0.09863299131393433, -9.62830924987793], [17.187484741210938, 0.09863299131393433, -9.411803245544434], [17.031295776367188, 0.09863299131393433, -9.214437484741211], [16.789813995361328, 0.09863299131393433, -9.14973258972168], [16.539813995361328, 0.09863299131393433, -9.14973258972168], [16.289813995361328, 0.09863299131393433, -9.14973258972168], [16.039813995361328, 0.09863299131393433, -9.14973258972168], [15.789813995361328, 0.09863299131393433, -9.14973258972168], [15.573307991027832, 0.09863299131393433, -9.02473258972168], [15.331826210021973, 0.09863299131393433, -8.960027694702148], [15.115320205688477, 0.09863299131393433, -8.835027694702148], [14.89881420135498, 0.09863299131393433, -8.710027694702148], [14.682308197021484, 0.09863299131393433, -8.585027694702148], [14.440826416015625, 0.09863299131393433, -8.520322799682617], [14.199344635009766, 0.09863299131393433, -8.455617904663086], [13.957862854003906, 0.09863299131393433, -8.390913009643555], [13.716381072998047, 0.09863299131393433, -8.326208114624023], [13.49987506866455, 0.09863299131393433, -8.201208114624023], [13.283369064331055, 0.09863299131393433, -8.076208114624023], [13.041887283325195, 0.09863299131393433, -8.011503219604492], [12.8253812789917, 0.09863299131393433, -7.886503219604492], [12.608875274658203, 0.09863299131393433, -7.761503219604492], [12.392369270324707, 0.09863299131393433, -7.636503219604492], [12.175863265991211, 0.09863299131393433, -7.511503219604492], [11.934381484985352, 0.09863299131393433, -7.446798324584961], [11.692899703979492, 0.09863299131393433, -7.38209342956543], [11.451417922973633, 0.09863299131393433, -7.317388534545898], [11.209936141967773, 0.09863299131393433, -7.252683639526367], [10.968454360961914, 0.09863299131393433, -7.187978744506836], [10.726972579956055, 0.09863299131393433, -7.123273849487305], [10.485490798950195, 0.09863299131393433, -7.058568954467773], [10.244009017944336, 0.09863299131393433, -6.993864059448242], [10.002527236938477, 0.09863299131393433, -6.929159164428711], [9.761045455932617, 0.09863299131393433, -6.86445426940918], [9.511045455932617, 0.09863299131393433, -6.86445426940918], [9.261045455932617, 0.09863299131393433, -6.86445426940918]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 3, 3, 3, 1, 3, 3, 1, 1, 3, 1, 3, 3, 1, 3, 1, 1, 1, 1, 2, 2, 1, 3, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 243, "episode_id": "244", "scene_id": "r47D5H71a5s", "instruction": "Walk out of the massage room. Walk straight and then wait next to the treadmills that are on the left. ", "start_position": [16.553600311279297, 0.09863299131393433, -10.978699684143066], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [8.938150405883789, 0.09863299131393433, -6.811880111694336], "goal_radius": 3.0, "reference_path": "[[16.553600311279297, 0.09863299131393433, -10.978699684143066], [17.26729965209961, 0.09863299131393433, -9.591890335083008], [15.469099998474121, 0.09863299131393433, -9.147879600524902], [14.441100120544434, 0.09863299131393433, -8.508560180664062], [13.258000373840332, 0.09863299131393433, -8.077159881591797], [11.768199920654297, 0.09863299131393433, -7.3206400871276855], [8.938150405883789, 0.09863299131393433, -6.811880111694336]]", "geodesic_distance": 9.920857429504395, "gt_locations": "[[16.553600311279297, 0.09863299131393433, -10.978699684143066], [16.730377197265625, 0.09863299131393433, -10.801922798156738], [16.907154083251953, 0.09863299131393433, -10.62514591217041], [17.08393096923828, 0.09863299131393433, -10.448369026184082], [17.26070785522461, 0.09863299131393433, -10.271592140197754], [17.437484741210938, 0.09863299131393433, -10.094815254211426], [17.437484741210938, 0.09863299131393433, -9.844815254211426], [17.312484741210938, 0.09863299131393433, -9.62830924987793], [17.187484741210938, 0.09863299131393433, -9.411803245544434], [17.031295776367188, 0.09863299131393433, -9.214437484741211], [16.789813995361328, 0.09863299131393433, -9.14973258972168], [16.539813995361328, 0.09863299131393433, -9.14973258972168], [16.289813995361328, 0.09863299131393433, -9.14973258972168], [16.039813995361328, 0.09863299131393433, -9.14973258972168], [15.789813995361328, 0.09863299131393433, -9.14973258972168], [15.573307991027832, 0.09863299131393433, -9.02473258972168], [15.331826210021973, 0.09863299131393433, -8.960027694702148], [15.115320205688477, 0.09863299131393433, -8.835027694702148], [14.89881420135498, 0.09863299131393433, -8.710027694702148], [14.682308197021484, 0.09863299131393433, -8.585027694702148], [14.440826416015625, 0.09863299131393433, -8.520322799682617], [14.199344635009766, 0.09863299131393433, -8.455617904663086], [13.957862854003906, 0.09863299131393433, -8.390913009643555], [13.716381072998047, 0.09863299131393433, -8.326208114624023], [13.49987506866455, 0.09863299131393433, -8.201208114624023], [13.283369064331055, 0.09863299131393433, -8.076208114624023], [13.041887283325195, 0.09863299131393433, -8.011503219604492], [12.8253812789917, 0.09863299131393433, -7.886503219604492], [12.608875274658203, 0.09863299131393433, -7.761503219604492], [12.392369270324707, 0.09863299131393433, -7.636503219604492], [12.175863265991211, 0.09863299131393433, -7.511503219604492], [11.934381484985352, 0.09863299131393433, -7.446798324584961], [11.692899703979492, 0.09863299131393433, -7.38209342956543], [11.451417922973633, 0.09863299131393433, -7.317388534545898], [11.209936141967773, 0.09863299131393433, -7.252683639526367], [10.968454360961914, 0.09863299131393433, -7.187978744506836], [10.726972579956055, 0.09863299131393433, -7.123273849487305], [10.485490798950195, 0.09863299131393433, -7.058568954467773], [10.244009017944336, 0.09863299131393433, -6.993864059448242], [10.002527236938477, 0.09863299131393433, -6.929159164428711], [9.761045455932617, 0.09863299131393433, -6.86445426940918], [9.511045455932617, 0.09863299131393433, -6.86445426940918], [9.261045455932617, 0.09863299131393433, -6.86445426940918]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 3, 3, 3, 1, 3, 3, 1, 1, 3, 1, 3, 3, 1, 3, 1, 1, 1, 1, 2, 2, 1, 3, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 244, "episode_id": "245", "scene_id": "ULsKaCPVFJR", "instruction": "Exit the screening room, make a right, go straight into the room with the globe and stop. ", "start_position": [4.424014091491699, 2.8835620880126953, 10.081165313720703], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [7.574850082397461, 2.8835620880126953, 14.103500366210938], "goal_radius": 3.0, "reference_path": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [6.0938801765441895, 2.8835620880126953, 10.250800132751465], [6.8142900466918945, 2.8835620880126953, 10.294599533081055], [7.753270149230957, 2.8835620880126953, 12.27560043334961], [7.7046098709106445, 2.8835620880126953, 13.130800247192383], [7.574850082397461, 2.8835620880126953, 14.103500366210938]]", "geodesic_distance": 6.154246807098389, "gt_locations": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [4.674014091491699, 2.8835620880126953, 10.081165313720703], [4.924014091491699, 2.8835620880126953, 10.081165313720703], [5.174014091491699, 2.8835620880126953, 10.081165313720703], [5.4154953956604, 2.8835620880126953, 10.145870208740234], [5.656976699829102, 2.8835620880126953, 10.210575103759766], [5.906976699829102, 2.8835620880126953, 10.210575103759766], [6.156976699829102, 2.8835620880126953, 10.210575103759766], [6.406976699829102, 2.8835620880126953, 10.210575103759766], [6.58375358581543, 2.8835620880126953, 10.387351989746094], [6.760530471801758, 2.8835620880126953, 10.564128875732422], [6.977036952972412, 2.8835620880126953, 10.689128875732422], [7.15381383895874, 2.8835620880126953, 10.86590576171875], [7.27881383895874, 2.8835620880126953, 11.082411766052246], [7.40381383895874, 2.8835620880126953, 11.298917770385742], [7.4685187339782715, 2.8835620880126953, 11.540399551391602], [7.533223628997803, 2.8835620880126953, 11.781881332397461], [7.658223628997803, 2.8835620880126953, 11.998387336730957], [7.658223628997803, 2.8835620880126953, 12.248387336730957], [7.658223628997803, 2.8835620880126953, 12.498387336730957], [7.658223628997803, 2.8835620880126953, 12.748387336730957], [7.658223628997803, 2.8835620880126953, 12.998387336730957], [7.658223628997803, 2.8835620880126953, 13.248387336730957], [7.658223628997803, 2.8835620880126953, 13.498387336730957], [7.658223628997803, 2.8835620880126953, 13.748387336730957]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 245, "episode_id": "246", "scene_id": "ULsKaCPVFJR", "instruction": "Leave the entertainment and turn right.  Keep walking down the hallway and enter the door at the very end.  Stop once you have entered the room. ", "start_position": [4.424014091491699, 2.8835620880126953, 10.081165313720703], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [7.574850082397461, 2.8835620880126953, 14.103500366210938], "goal_radius": 3.0, "reference_path": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [6.0938801765441895, 2.8835620880126953, 10.250800132751465], [6.8142900466918945, 2.8835620880126953, 10.294599533081055], [7.753270149230957, 2.8835620880126953, 12.27560043334961], [7.7046098709106445, 2.8835620880126953, 13.130800247192383], [7.574850082397461, 2.8835620880126953, 14.103500366210938]]", "geodesic_distance": 6.154246807098389, "gt_locations": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [4.674014091491699, 2.8835620880126953, 10.081165313720703], [4.924014091491699, 2.8835620880126953, 10.081165313720703], [5.174014091491699, 2.8835620880126953, 10.081165313720703], [5.4154953956604, 2.8835620880126953, 10.145870208740234], [5.656976699829102, 2.8835620880126953, 10.210575103759766], [5.906976699829102, 2.8835620880126953, 10.210575103759766], [6.156976699829102, 2.8835620880126953, 10.210575103759766], [6.406976699829102, 2.8835620880126953, 10.210575103759766], [6.58375358581543, 2.8835620880126953, 10.387351989746094], [6.760530471801758, 2.8835620880126953, 10.564128875732422], [6.977036952972412, 2.8835620880126953, 10.689128875732422], [7.15381383895874, 2.8835620880126953, 10.86590576171875], [7.27881383895874, 2.8835620880126953, 11.082411766052246], [7.40381383895874, 2.8835620880126953, 11.298917770385742], [7.4685187339782715, 2.8835620880126953, 11.540399551391602], [7.533223628997803, 2.8835620880126953, 11.781881332397461], [7.658223628997803, 2.8835620880126953, 11.998387336730957], [7.658223628997803, 2.8835620880126953, 12.248387336730957], [7.658223628997803, 2.8835620880126953, 12.498387336730957], [7.658223628997803, 2.8835620880126953, 12.748387336730957], [7.658223628997803, 2.8835620880126953, 12.998387336730957], [7.658223628997803, 2.8835620880126953, 13.248387336730957], [7.658223628997803, 2.8835620880126953, 13.498387336730957], [7.658223628997803, 2.8835620880126953, 13.748387336730957]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 246, "episode_id": "247", "scene_id": "ULsKaCPVFJR", "instruction": "Go out of the door towards the large picture with a woman in a black dress, and turn right down the hall towards a room with shelves, a desk, and a globe.  Wait in the doorway. ", "start_position": [4.424014091491699, 2.8835620880126953, 10.081165313720703], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [7.574850082397461, 2.8835620880126953, 14.103500366210938], "goal_radius": 3.0, "reference_path": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [6.0938801765441895, 2.8835620880126953, 10.250800132751465], [6.8142900466918945, 2.8835620880126953, 10.294599533081055], [7.753270149230957, 2.8835620880126953, 12.27560043334961], [7.7046098709106445, 2.8835620880126953, 13.130800247192383], [7.574850082397461, 2.8835620880126953, 14.103500366210938]]", "geodesic_distance": 6.154246807098389, "gt_locations": "[[4.424014091491699, 2.8835620880126953, 10.081165313720703], [4.674014091491699, 2.8835620880126953, 10.081165313720703], [4.924014091491699, 2.8835620880126953, 10.081165313720703], [5.174014091491699, 2.8835620880126953, 10.081165313720703], [5.4154953956604, 2.8835620880126953, 10.145870208740234], [5.656976699829102, 2.8835620880126953, 10.210575103759766], [5.906976699829102, 2.8835620880126953, 10.210575103759766], [6.156976699829102, 2.8835620880126953, 10.210575103759766], [6.406976699829102, 2.8835620880126953, 10.210575103759766], [6.58375358581543, 2.8835620880126953, 10.387351989746094], [6.760530471801758, 2.8835620880126953, 10.564128875732422], [6.977036952972412, 2.8835620880126953, 10.689128875732422], [7.15381383895874, 2.8835620880126953, 10.86590576171875], [7.27881383895874, 2.8835620880126953, 11.082411766052246], [7.40381383895874, 2.8835620880126953, 11.298917770385742], [7.4685187339782715, 2.8835620880126953, 11.540399551391602], [7.533223628997803, 2.8835620880126953, 11.781881332397461], [7.658223628997803, 2.8835620880126953, 11.998387336730957], [7.658223628997803, 2.8835620880126953, 12.248387336730957], [7.658223628997803, 2.8835620880126953, 12.498387336730957], [7.658223628997803, 2.8835620880126953, 12.748387336730957], [7.658223628997803, 2.8835620880126953, 12.998387336730957], [7.658223628997803, 2.8835620880126953, 13.248387336730957], [7.658223628997803, 2.8835620880126953, 13.498387336730957], [7.658223628997803, 2.8835620880126953, 13.748387336730957]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 247, "episode_id": "248", "scene_id": "5LpN3gDmAk7", "instruction": "Enter the bedroom and make a left, go straight through the hallway, passed the painting, go toward the red painting and then through the doorway to the left of the red painting, take a step into the doorway and stop. ", "start_position": [5.171209812164307, 3.115649938583374, 12.095100402832031], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [1.5889400243759155, 3.115649938583374, 2.207360029220581], "goal_radius": 3.0, "reference_path": "[[5.171209812164307, 3.115649938583374, 12.095100402832031], [6.2878098487854, 3.115649938583374, 12.09939956665039], [7.166319847106934, 3.115649938583374, 9.192919731140137], [6.20911979675293, 3.115649938583374, 9.096659660339355], [4.221680164337158, 3.115649938583374, 7.486420154571533], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [1.5889400243759155, 3.115649938583374, 2.207360029220581]]", "geodesic_distance": 12.407958030700684, "gt_locations": "[[5.171209812164307, 3.115649938583374, 12.095100402832031], [5.421209812164307, 3.115649938583374, 12.095100402832031], [5.671209812164307, 3.115649938583374, 12.095100402832031], [5.921209812164307, 3.115649938583374, 12.095100402832031], [6.097986698150635, 3.115649938583374, 11.918323516845703], [6.274763584136963, 3.115649938583374, 11.741546630859375], [6.451540470123291, 3.115649938583374, 11.564769744873047], [6.628317356109619, 3.115649938583374, 11.387992858886719], [6.69302225112915, 3.115649938583374, 11.14651107788086], [6.757727146148682, 3.115649938583374, 10.905029296875], [6.822432041168213, 3.115649938583374, 10.66354751586914], [6.887136936187744, 3.115649938583374, 10.422065734863281], [6.951841831207275, 3.115649938583374, 10.180583953857422], [7.016546726226807, 3.115649938583374, 9.939102172851562], [7.081251621246338, 3.115649938583374, 9.697620391845703], [7.145956516265869, 3.115649938583374, 9.456138610839844], [6.929450035095215, 3.115649938583374, 9.331138610839844], [6.687968730926514, 3.115649938583374, 9.266433715820312], [6.4464874267578125, 3.115649938583374, 9.201728820800781], [6.229980945587158, 3.115649938583374, 9.076728820800781], [6.013474464416504, 3.115649938583374, 8.951728820800781], [5.79696798324585, 3.115649938583374, 8.826728820800781], [5.580461502075195, 3.115649938583374, 8.701728820800781], [5.403684616088867, 3.115649938583374, 8.524951934814453], [5.187178134918213, 3.115649938583374, 8.399951934814453], [4.970671653747559, 3.115649938583374, 8.274951934814453], [4.7938947677612305, 3.115649938583374, 8.098175048828125], [4.617117881774902, 3.115649938583374, 7.921398162841797], [4.440340995788574, 3.115649938583374, 7.744621276855469], [4.315340995788574, 3.115649938583374, 7.5281147956848145], [4.190340995788574, 3.115649938583374, 7.31160831451416], [4.065340995788574, 3.115649938583374, 7.095101833343506], [3.940340995788574, 3.115649938583374, 6.878595352172852], [3.875636339187622, 3.115649938583374, 6.63711404800415], [3.6804051399230957, 3.115649938583374, 6.427014350891113], [3.578557014465332, 3.115649938583374, 6.187355995178223], [3.453557014465332, 3.115649938583374, 5.970849514007568], [3.328557014465332, 3.115649938583374, 5.754343032836914], [3.203557014465332, 3.115649938583374, 5.53783655166626], [3.078557014465332, 3.115649938583374, 5.3213300704956055], [2.953557014465332, 3.115649938583374, 5.104823589324951], [2.88885235786438, 3.115649938583374, 4.86334228515625], [2.76385235786438, 3.115649938583374, 4.646835803985596], [2.63885235786438, 3.115649938583374, 4.430329322814941], [2.51385235786438, 3.115649938583374, 4.213822841644287], [2.38885235786438, 3.115649938583374, 3.997316360473633], [2.26385235786438, 3.115649938583374, 3.7808098793029785], [2.13885235786438, 3.115649938583374, 3.564303398132324], [2.01385235786438, 3.115649938583374, 3.34779691696167], [1.8888523578643799, 3.115649938583374, 3.1312904357910156], [1.8241475820541382, 3.115649938583374, 2.8898088932037354], [1.6991475820541382, 3.115649938583374, 2.67330265045166]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 248, "episode_id": "249", "scene_id": "5LpN3gDmAk7", "instruction": "Turn right and exit into the bedroom. Turn left and walk to the wall and then turn left. Walk to the end of that area and turn right out the last door. Once out the door walk across the small room and enter the door to the far left. Stop once you enter the bedroom. ", "start_position": [5.171209812164307, 3.115649938583374, 12.095100402832031], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [1.5889400243759155, 3.115649938583374, 2.207360029220581], "goal_radius": 3.0, "reference_path": "[[5.171209812164307, 3.115649938583374, 12.095100402832031], [6.2878098487854, 3.115649938583374, 12.09939956665039], [7.166319847106934, 3.115649938583374, 9.192919731140137], [6.20911979675293, 3.115649938583374, 9.096659660339355], [4.221680164337158, 3.115649938583374, 7.486420154571533], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [1.5889400243759155, 3.115649938583374, 2.207360029220581]]", "geodesic_distance": 12.407958030700684, "gt_locations": "[[5.171209812164307, 3.115649938583374, 12.095100402832031], [5.421209812164307, 3.115649938583374, 12.095100402832031], [5.671209812164307, 3.115649938583374, 12.095100402832031], [5.921209812164307, 3.115649938583374, 12.095100402832031], [6.097986698150635, 3.115649938583374, 11.918323516845703], [6.274763584136963, 3.115649938583374, 11.741546630859375], [6.451540470123291, 3.115649938583374, 11.564769744873047], [6.628317356109619, 3.115649938583374, 11.387992858886719], [6.69302225112915, 3.115649938583374, 11.14651107788086], [6.757727146148682, 3.115649938583374, 10.905029296875], [6.822432041168213, 3.115649938583374, 10.66354751586914], [6.887136936187744, 3.115649938583374, 10.422065734863281], [6.951841831207275, 3.115649938583374, 10.180583953857422], [7.016546726226807, 3.115649938583374, 9.939102172851562], [7.081251621246338, 3.115649938583374, 9.697620391845703], [7.145956516265869, 3.115649938583374, 9.456138610839844], [6.929450035095215, 3.115649938583374, 9.331138610839844], [6.687968730926514, 3.115649938583374, 9.266433715820312], [6.4464874267578125, 3.115649938583374, 9.201728820800781], [6.229980945587158, 3.115649938583374, 9.076728820800781], [6.013474464416504, 3.115649938583374, 8.951728820800781], [5.79696798324585, 3.115649938583374, 8.826728820800781], [5.580461502075195, 3.115649938583374, 8.701728820800781], [5.403684616088867, 3.115649938583374, 8.524951934814453], [5.187178134918213, 3.115649938583374, 8.399951934814453], [4.970671653747559, 3.115649938583374, 8.274951934814453], [4.7938947677612305, 3.115649938583374, 8.098175048828125], [4.617117881774902, 3.115649938583374, 7.921398162841797], [4.440340995788574, 3.115649938583374, 7.744621276855469], [4.315340995788574, 3.115649938583374, 7.5281147956848145], [4.190340995788574, 3.115649938583374, 7.31160831451416], [4.065340995788574, 3.115649938583374, 7.095101833343506], [3.940340995788574, 3.115649938583374, 6.878595352172852], [3.875636339187622, 3.115649938583374, 6.63711404800415], [3.6804051399230957, 3.115649938583374, 6.427014350891113], [3.578557014465332, 3.115649938583374, 6.187355995178223], [3.453557014465332, 3.115649938583374, 5.970849514007568], [3.328557014465332, 3.115649938583374, 5.754343032836914], [3.203557014465332, 3.115649938583374, 5.53783655166626], [3.078557014465332, 3.115649938583374, 5.3213300704956055], [2.953557014465332, 3.115649938583374, 5.104823589324951], [2.88885235786438, 3.115649938583374, 4.86334228515625], [2.76385235786438, 3.115649938583374, 4.646835803985596], [2.63885235786438, 3.115649938583374, 4.430329322814941], [2.51385235786438, 3.115649938583374, 4.213822841644287], [2.38885235786438, 3.115649938583374, 3.997316360473633], [2.26385235786438, 3.115649938583374, 3.7808098793029785], [2.13885235786438, 3.115649938583374, 3.564303398132324], [2.01385235786438, 3.115649938583374, 3.34779691696167], [1.8888523578643799, 3.115649938583374, 3.1312904357910156], [1.8241475820541382, 3.115649938583374, 2.8898088932037354], [1.6991475820541382, 3.115649938583374, 2.67330265045166]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 249, "episode_id": "250", "scene_id": "5LpN3gDmAk7", "instruction": "Go straight until you see a bed then turn left and left again to go into the hallway continue down the hallway that turns slightly right and go into the door on the left. Wait by the white chair. ", "start_position": [5.171209812164307, 3.115649938583374, 12.095100402832031], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [1.5889400243759155, 3.115649938583374, 2.207360029220581], "goal_radius": 3.0, "reference_path": "[[5.171209812164307, 3.115649938583374, 12.095100402832031], [6.2878098487854, 3.115649938583374, 12.09939956665039], [7.166319847106934, 3.115649938583374, 9.192919731140137], [6.20911979675293, 3.115649938583374, 9.096659660339355], [4.221680164337158, 3.115649938583374, 7.486420154571533], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [1.5889400243759155, 3.115649938583374, 2.207360029220581]]", "geodesic_distance": 12.407958030700684, "gt_locations": "[[5.171209812164307, 3.115649938583374, 12.095100402832031], [5.421209812164307, 3.115649938583374, 12.095100402832031], [5.671209812164307, 3.115649938583374, 12.095100402832031], [5.921209812164307, 3.115649938583374, 12.095100402832031], [6.097986698150635, 3.115649938583374, 11.918323516845703], [6.274763584136963, 3.115649938583374, 11.741546630859375], [6.451540470123291, 3.115649938583374, 11.564769744873047], [6.628317356109619, 3.115649938583374, 11.387992858886719], [6.69302225112915, 3.115649938583374, 11.14651107788086], [6.757727146148682, 3.115649938583374, 10.905029296875], [6.822432041168213, 3.115649938583374, 10.66354751586914], [6.887136936187744, 3.115649938583374, 10.422065734863281], [6.951841831207275, 3.115649938583374, 10.180583953857422], [7.016546726226807, 3.115649938583374, 9.939102172851562], [7.081251621246338, 3.115649938583374, 9.697620391845703], [7.145956516265869, 3.115649938583374, 9.456138610839844], [6.929450035095215, 3.115649938583374, 9.331138610839844], [6.687968730926514, 3.115649938583374, 9.266433715820312], [6.4464874267578125, 3.115649938583374, 9.201728820800781], [6.229980945587158, 3.115649938583374, 9.076728820800781], [6.013474464416504, 3.115649938583374, 8.951728820800781], [5.79696798324585, 3.115649938583374, 8.826728820800781], [5.580461502075195, 3.115649938583374, 8.701728820800781], [5.403684616088867, 3.115649938583374, 8.524951934814453], [5.187178134918213, 3.115649938583374, 8.399951934814453], [4.970671653747559, 3.115649938583374, 8.274951934814453], [4.7938947677612305, 3.115649938583374, 8.098175048828125], [4.617117881774902, 3.115649938583374, 7.921398162841797], [4.440340995788574, 3.115649938583374, 7.744621276855469], [4.315340995788574, 3.115649938583374, 7.5281147956848145], [4.190340995788574, 3.115649938583374, 7.31160831451416], [4.065340995788574, 3.115649938583374, 7.095101833343506], [3.940340995788574, 3.115649938583374, 6.878595352172852], [3.875636339187622, 3.115649938583374, 6.63711404800415], [3.6804051399230957, 3.115649938583374, 6.427014350891113], [3.578557014465332, 3.115649938583374, 6.187355995178223], [3.453557014465332, 3.115649938583374, 5.970849514007568], [3.328557014465332, 3.115649938583374, 5.754343032836914], [3.203557014465332, 3.115649938583374, 5.53783655166626], [3.078557014465332, 3.115649938583374, 5.3213300704956055], [2.953557014465332, 3.115649938583374, 5.104823589324951], [2.88885235786438, 3.115649938583374, 4.86334228515625], [2.76385235786438, 3.115649938583374, 4.646835803985596], [2.63885235786438, 3.115649938583374, 4.430329322814941], [2.51385235786438, 3.115649938583374, 4.213822841644287], [2.38885235786438, 3.115649938583374, 3.997316360473633], [2.26385235786438, 3.115649938583374, 3.7808098793029785], [2.13885235786438, 3.115649938583374, 3.564303398132324], [2.01385235786438, 3.115649938583374, 3.34779691696167], [1.8888523578643799, 3.115649938583374, 3.1312904357910156], [1.8241475820541382, 3.115649938583374, 2.8898088932037354], [1.6991475820541382, 3.115649938583374, 2.67330265045166]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 250, "episode_id": "251", "scene_id": "1pXnuDYAj8r", "instruction": "Exit the living room and turn right. Continue straight down the hall passing the stairs on the right. Wait at the doorway at the end of the hall. 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{"id": 253, "episode_id": "254", "scene_id": "Uxmj2M2itWa", "instruction": "Turn left and wait by the counter that has the silver vase on it. ", "start_position": [-3.052309989929199, 0.5101215243339539, -3.061880111694336], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-10.415300369262695, -0.39427095651626587, 3.1675400733947754], "goal_radius": 3.0, "reference_path": "[[-3.052309989929199, 0.5101215243339539, -3.061880111694336], [-4.297510147094727, 0.4057289958000183, -2.8038699626922607], [-4.956789970397949, 0.4057289958000183, -2.543750047683716], [-5.606760025024414, 0.20572906732559204, -2.0957798957824707], [-6.202250003814697, 0.15278573334217072, -1.731850028038025], [-8.139470100402832, -0.1305728703737259, -0.5904930233955383], [-10.415300369262695, -0.39427095651626587, 3.1675400733947754]]", "geodesic_distance": 9.978425025939941, "gt_locations": "[[-3.052309989929199, 0.5101215243339539, -3.061880111694336], [-3.2937915325164795, 0.4772569239139557, -2.997175455093384], [-3.5352730751037598, 0.4190453290939331, -2.9324707984924316], [-3.77675461769104, 0.4057289958000183, -2.8677661418914795], [-4.01823616027832, 0.4057289958000183, -2.8030614852905273], [-4.2597174644470215, 0.4057289958000183, -2.738356828689575], [-4.501198768615723, 0.4057289958000183, -2.673652172088623], [-4.717705249786377, 0.4057289958000183, -2.548652172088623], [-4.934211730957031, 0.4057289958000183, -2.423652172088623], [-5.1507182121276855, 0.4057289958000183, -2.298652172088623], [-5.36722469329834, 0.34183192253112793, -2.173652172088623], [-5.583731174468994, 0.20572906732559204, -2.048652172088623], [-5.800237655639648, 0.1918346881866455, -1.923652172088623], [-6.016744136810303, 0.17054033279418945, -1.798652172088623], [-6.233250617980957, 0.1492459923028946, -1.673652172088623], [-6.449757099151611, 0.12786859273910522, -1.548652172088623], [-6.666263580322266, 0.09548478573560715, -1.423652172088623], [-6.88277006149292, 0.06310097873210907, -1.298652172088623], [-7.099276542663574, 0.030717164278030396, -1.173652172088623], [-7.3157830238342285, 0.005729019641876221, -1.048652172088623], [-7.532289505004883, 0.005729019641876221, -0.923652172088623], [-7.748795986175537, -0.059418752789497375, -0.798652172088623], [-7.925572872161865, -0.12368692457675934, -0.6218754053115845], [-8.102349281311035, -0.1553848534822464, -0.4450986683368683], [-8.279126167297363, -0.18708278238773346, -0.2683219313621521], [-8.455903053283691, -0.19427096843719482, -0.09154519438743591], [-8.580903053283691, -0.19427096843719482, 0.12496113777160645], [-8.705903053283691, -0.19427096843719482, 0.3414674699306488], [-8.830903053283691, -0.19908618927001953, 0.5579738020896912], [-8.955903053283691, -0.22851170599460602, 0.7744801044464111], [-9.080903053283691, -0.2579372525215149, 0.9909864664077759], [-9.205903053283691, -0.2873627841472626, 1.2074928283691406], [-9.330903053283691, -0.31229299306869507, 1.4239991903305054], [-9.455903053283691, -0.3174862861633301, 1.6405055522918701], [-9.580903053283691, -0.3226796090602875, 1.8570119142532349], [-9.705903053283691, -0.3278729319572449, 2.0735182762145996], [-9.830903053283691, -0.33306625485420227, 2.290024518966675], [-9.955903053283691, -0.3382595479488373, 2.50653076171875], [-10.080903053283691, -0.35559290647506714, 2.723037004470825], [-10.205903053283691, -0.37475183606147766, 2.9395432472229004]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 254, "episode_id": "255", "scene_id": "Uxmj2M2itWa", "instruction": "Go straight to exit the bathroom. Pass the red heart bench on the left then continue straight. Wait by the furniture with the stainless steel vase on the right. ", "start_position": [-3.052309989929199, 0.5101215243339539, -3.061880111694336], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-10.415300369262695, -0.39427095651626587, 3.1675400733947754], "goal_radius": 3.0, "reference_path": "[[-3.052309989929199, 0.5101215243339539, -3.061880111694336], [-4.297510147094727, 0.4057289958000183, -2.8038699626922607], [-4.956789970397949, 0.4057289958000183, -2.543750047683716], [-5.606760025024414, 0.20572906732559204, -2.0957798957824707], [-6.202250003814697, 0.15278573334217072, -1.731850028038025], [-8.139470100402832, -0.1305728703737259, -0.5904930233955383], [-10.415300369262695, -0.39427095651626587, 3.1675400733947754]]", "geodesic_distance": 9.978425025939941, "gt_locations": "[[-3.052309989929199, 0.5101215243339539, -3.061880111694336], [-3.2937915325164795, 0.4772569239139557, -2.997175455093384], [-3.5352730751037598, 0.4190453290939331, -2.9324707984924316], [-3.77675461769104, 0.4057289958000183, -2.8677661418914795], [-4.01823616027832, 0.4057289958000183, -2.8030614852905273], [-4.2597174644470215, 0.4057289958000183, -2.738356828689575], [-4.501198768615723, 0.4057289958000183, -2.673652172088623], [-4.717705249786377, 0.4057289958000183, -2.548652172088623], [-4.934211730957031, 0.4057289958000183, -2.423652172088623], [-5.1507182121276855, 0.4057289958000183, -2.298652172088623], [-5.36722469329834, 0.34183192253112793, -2.173652172088623], [-5.583731174468994, 0.20572906732559204, -2.048652172088623], [-5.800237655639648, 0.1918346881866455, -1.923652172088623], [-6.016744136810303, 0.17054033279418945, -1.798652172088623], [-6.233250617980957, 0.1492459923028946, -1.673652172088623], [-6.449757099151611, 0.12786859273910522, -1.548652172088623], [-6.666263580322266, 0.09548478573560715, -1.423652172088623], [-6.88277006149292, 0.06310097873210907, -1.298652172088623], [-7.099276542663574, 0.030717164278030396, -1.173652172088623], [-7.3157830238342285, 0.005729019641876221, -1.048652172088623], [-7.532289505004883, 0.005729019641876221, -0.923652172088623], [-7.748795986175537, -0.059418752789497375, -0.798652172088623], [-7.925572872161865, -0.12368692457675934, -0.6218754053115845], [-8.102349281311035, -0.1553848534822464, -0.4450986683368683], [-8.279126167297363, -0.18708278238773346, -0.2683219313621521], [-8.455903053283691, -0.19427096843719482, -0.09154519438743591], [-8.580903053283691, -0.19427096843719482, 0.12496113777160645], [-8.705903053283691, -0.19427096843719482, 0.3414674699306488], [-8.830903053283691, -0.19908618927001953, 0.5579738020896912], [-8.955903053283691, -0.22851170599460602, 0.7744801044464111], [-9.080903053283691, -0.2579372525215149, 0.9909864664077759], [-9.205903053283691, -0.2873627841472626, 1.2074928283691406], [-9.330903053283691, -0.31229299306869507, 1.4239991903305054], [-9.455903053283691, -0.3174862861633301, 1.6405055522918701], [-9.580903053283691, -0.3226796090602875, 1.8570119142532349], [-9.705903053283691, -0.3278729319572449, 2.0735182762145996], [-9.830903053283691, -0.33306625485420227, 2.290024518966675], [-9.955903053283691, -0.3382595479488373, 2.50653076171875], [-10.080903053283691, -0.35559290647506714, 2.723037004470825], [-10.205903053283691, -0.37475183606147766, 2.9395432472229004]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 255, "episode_id": "256", "scene_id": "Uxmj2M2itWa", "instruction": "Walk out of the bathroom and into the hallway. Walk down the hall and go left. Stop in front of the drawers at the end of the hall. . ", "start_position": [-3.052309989929199, 0.5101215243339539, -3.061880111694336], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-10.415300369262695, -0.39427095651626587, 3.1675400733947754], "goal_radius": 3.0, "reference_path": "[[-3.052309989929199, 0.5101215243339539, -3.061880111694336], [-4.297510147094727, 0.4057289958000183, -2.8038699626922607], [-4.956789970397949, 0.4057289958000183, -2.543750047683716], [-5.606760025024414, 0.20572906732559204, -2.0957798957824707], [-6.202250003814697, 0.15278573334217072, -1.731850028038025], [-8.139470100402832, -0.1305728703737259, -0.5904930233955383], [-10.415300369262695, -0.39427095651626587, 3.1675400733947754]]", "geodesic_distance": 9.978425025939941, "gt_locations": "[[-3.052309989929199, 0.5101215243339539, -3.061880111694336], [-3.2937915325164795, 0.4772569239139557, -2.997175455093384], [-3.5352730751037598, 0.4190453290939331, -2.9324707984924316], [-3.77675461769104, 0.4057289958000183, -2.8677661418914795], [-4.01823616027832, 0.4057289958000183, -2.8030614852905273], [-4.2597174644470215, 0.4057289958000183, -2.738356828689575], [-4.501198768615723, 0.4057289958000183, -2.673652172088623], [-4.717705249786377, 0.4057289958000183, -2.548652172088623], [-4.934211730957031, 0.4057289958000183, -2.423652172088623], [-5.1507182121276855, 0.4057289958000183, -2.298652172088623], [-5.36722469329834, 0.34183192253112793, -2.173652172088623], [-5.583731174468994, 0.20572906732559204, -2.048652172088623], [-5.800237655639648, 0.1918346881866455, -1.923652172088623], [-6.016744136810303, 0.17054033279418945, -1.798652172088623], [-6.233250617980957, 0.1492459923028946, -1.673652172088623], [-6.449757099151611, 0.12786859273910522, -1.548652172088623], [-6.666263580322266, 0.09548478573560715, -1.423652172088623], [-6.88277006149292, 0.06310097873210907, -1.298652172088623], [-7.099276542663574, 0.030717164278030396, -1.173652172088623], [-7.3157830238342285, 0.005729019641876221, -1.048652172088623], [-7.532289505004883, 0.005729019641876221, -0.923652172088623], [-7.748795986175537, -0.059418752789497375, -0.798652172088623], [-7.925572872161865, -0.12368692457675934, -0.6218754053115845], [-8.102349281311035, -0.1553848534822464, -0.4450986683368683], [-8.279126167297363, -0.18708278238773346, -0.2683219313621521], [-8.455903053283691, -0.19427096843719482, -0.09154519438743591], [-8.580903053283691, -0.19427096843719482, 0.12496113777160645], [-8.705903053283691, -0.19427096843719482, 0.3414674699306488], [-8.830903053283691, -0.19908618927001953, 0.5579738020896912], [-8.955903053283691, -0.22851170599460602, 0.7744801044464111], [-9.080903053283691, -0.2579372525215149, 0.9909864664077759], [-9.205903053283691, -0.2873627841472626, 1.2074928283691406], [-9.330903053283691, -0.31229299306869507, 1.4239991903305054], [-9.455903053283691, -0.3174862861633301, 1.6405055522918701], [-9.580903053283691, -0.3226796090602875, 1.8570119142532349], [-9.705903053283691, -0.3278729319572449, 2.0735182762145996], [-9.830903053283691, -0.33306625485420227, 2.290024518966675], [-9.955903053283691, -0.3382595479488373, 2.50653076171875], [-10.080903053283691, -0.35559290647506714, 2.723037004470825], [-10.205903053283691, -0.37475183606147766, 2.9395432472229004]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 256, "episode_id": "257", "scene_id": "b8cTxDM8gDG", "instruction": "Enter the house and walk past the staircase and the kitchen island. Exit the house through the sliding glass doors onto the deck and stop beside the plant in the blue pot. ", "start_position": [-7.2327799797058105, -2.9014892578125, 0.5498660206794739], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-20.89240074157715, -3.1467251777648926, 2.128040075302124], "goal_radius": 3.0, "reference_path": "[[-7.2327799797058105, -2.9014892578125, 0.5498660206794739], [-8.110750198364258, -2.9308793544769287, 0.7016819715499878], [-10.789600372314453, -2.8647985458374023, 1.025920033454895], [-12.772100448608398, -2.9467251300811768, 0.6147540211677551], [-15.291500091552734, -2.9467251300811768, 0.8437520265579224], [-17.892000198364258, -2.9467251300811768, 1.0257400274276733], [-20.89240074157715, -3.1467251777648926, 2.128040075302124]]", "geodesic_distance": 13.756729125976562, "gt_locations": "[[-7.2327799797058105, -2.9014892578125, 0.5498660206794739], [-7.474261283874512, -2.7714552879333496, 0.6145708560943604], [-7.715742588043213, -2.851308822631836, 0.6792756915092468], [-7.957223892211914, -2.8799972534179688, 0.7439805269241333], [-8.198705673217773, -2.9467251300811768, 0.8086853623390198], [-8.448705673217773, -2.8192150592803955, 0.8086854219436646], [-8.698705673217773, -2.792663097381592, 0.8086854219436646], [-8.948705673217773, -2.7661874294281006, 0.8086854219436646], [-9.198705673217773, -2.746725082397461, 0.8086854219436646], [-9.448705673217773, -2.746725082397461, 0.8086854219436646], [-9.698705673217773, -2.7677559852600098, 0.8086854219436646], [-9.940187454223633, -2.806962728500366, 0.8733901977539062], [-10.181669235229492, -2.8461697101593018, 0.938094973564148], [-10.423151016235352, -2.8565821647644043, 1.0027997493743896], [-10.673151016235352, -2.868321180343628, 1.0027997493743896], [-10.914632797241211, -2.8714189529418945, 0.9380950331687927], [-11.15611457824707, -2.874516725540161, 0.8733903169631958], [-11.39759635925293, -2.8776144981384277, 0.8086856007575989], [-11.639078140258789, -2.8807120323181152, 0.743980884552002], [-11.880559921264648, -2.899092435836792, 0.679276168346405], [-12.130559921264648, -2.9187896251678467, 0.6792762279510498], [-12.380559921264648, -2.9384865760803223, 0.6792762279510498], [-12.630559921264648, -2.9467251300811768, 0.6792762279510498], [-12.880559921264648, -2.9467251300811768, 0.6792762279510498], [-13.130559921264648, -2.9467251300811768, 0.6792762279510498], [-13.380559921264648, -2.9467251300811768, 0.6792762279510498], [-13.630559921264648, -2.9467251300811768, 0.6792762279510498], [-13.880559921264648, -2.9467251300811768, 0.6792762279510498], [-14.130559921264648, -2.9467251300811768, 0.6792762279510498], [-14.380559921264648, -2.9467251300811768, 0.6792762279510498], [-14.622041702270508, -2.9467251300811768, 0.7439810037612915], [-14.863523483276367, -2.9467251300811768, 0.8086857795715332], [-15.113523483276367, -2.9467251300811768, 0.8086857795715332], [-15.363523483276367, -2.9467251300811768, 0.8086857795715332], [-15.613523483276367, -2.9467251300811768, 0.8086857795715332], [-15.863523483276367, -2.9467251300811768, 0.8086857795715332], [-16.113523483276367, -2.9467251300811768, 0.8086857795715332], [-16.363523483276367, -2.9467251300811768, 0.8086857795715332], [-16.613523483276367, -2.9467251300811768, 0.8086857795715332], [-16.855005264282227, -2.9467251300811768, 0.8733905553817749], [-17.096487045288086, -2.9467251300811768, 0.9380953311920166], [-17.337968826293945, -2.9467251300811768, 1.0028001070022583], [-17.587968826293945, -2.9467251300811768, 1.0028001070022583], [-17.829450607299805, -2.9467251300811768, 1.0675048828125], [-18.070932388305664, -2.9467251300811768, 1.1322096586227417], [-18.312414169311523, -2.9467251300811768, 1.1969144344329834], [-18.528921127319336, -2.9467251300811768, 1.3219144344329834], [-18.74542808532715, -2.9467251300811768, 1.4469144344329834], [-18.96193504333496, -2.9467251300811768, 1.5719144344329834], [-19.178442001342773, -2.9467251300811768, 1.6969144344329834], [-19.419923782348633, -3.0003015995025635, 1.761619210243225], [-19.669923782348633, -3.142298698425293, 1.761619210243225], [-19.911405563354492, -3.118727207183838, 1.8263239860534668], [-20.15288734436035, -3.1467251777648926, 1.8910287618637085], [-20.39436912536621, -3.1467251777648926, 1.9557335376739502], [-20.63585090637207, -3.1467251777648926, 2.0204381942749023]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 257, "episode_id": "258", "scene_id": "b8cTxDM8gDG", "instruction": "Go past the stairs and into the kitchen/living room.  Walk past the counter. Go onto the deck and stop by the houseplant. ", "start_position": [-7.2327799797058105, -2.9014892578125, 0.5498660206794739], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-20.89240074157715, -3.1467251777648926, 2.128040075302124], "goal_radius": 3.0, "reference_path": "[[-7.2327799797058105, -2.9014892578125, 0.5498660206794739], [-8.110750198364258, -2.9308793544769287, 0.7016819715499878], [-10.789600372314453, -2.8647985458374023, 1.025920033454895], [-12.772100448608398, -2.9467251300811768, 0.6147540211677551], [-15.291500091552734, -2.9467251300811768, 0.8437520265579224], [-17.892000198364258, -2.9467251300811768, 1.0257400274276733], [-20.89240074157715, -3.1467251777648926, 2.128040075302124]]", "geodesic_distance": 13.756729125976562, "gt_locations": "[[-7.2327799797058105, -2.9014892578125, 0.5498660206794739], [-7.474261283874512, -2.7714552879333496, 0.6145708560943604], [-7.715742588043213, -2.851308822631836, 0.6792756915092468], [-7.957223892211914, -2.8799972534179688, 0.7439805269241333], [-8.198705673217773, -2.9467251300811768, 0.8086853623390198], [-8.448705673217773, -2.8192150592803955, 0.8086854219436646], [-8.698705673217773, -2.792663097381592, 0.8086854219436646], [-8.948705673217773, -2.7661874294281006, 0.8086854219436646], [-9.198705673217773, -2.746725082397461, 0.8086854219436646], [-9.448705673217773, -2.746725082397461, 0.8086854219436646], [-9.698705673217773, -2.7677559852600098, 0.8086854219436646], [-9.940187454223633, -2.806962728500366, 0.8733901977539062], [-10.181669235229492, -2.8461697101593018, 0.938094973564148], [-10.423151016235352, -2.8565821647644043, 1.0027997493743896], [-10.673151016235352, -2.868321180343628, 1.0027997493743896], [-10.914632797241211, -2.8714189529418945, 0.9380950331687927], [-11.15611457824707, -2.874516725540161, 0.8733903169631958], [-11.39759635925293, -2.8776144981384277, 0.8086856007575989], [-11.639078140258789, -2.8807120323181152, 0.743980884552002], [-11.880559921264648, -2.899092435836792, 0.679276168346405], [-12.130559921264648, -2.9187896251678467, 0.6792762279510498], [-12.380559921264648, -2.9384865760803223, 0.6792762279510498], [-12.630559921264648, -2.9467251300811768, 0.6792762279510498], [-12.880559921264648, -2.9467251300811768, 0.6792762279510498], [-13.130559921264648, -2.9467251300811768, 0.6792762279510498], [-13.380559921264648, -2.9467251300811768, 0.6792762279510498], [-13.630559921264648, -2.9467251300811768, 0.6792762279510498], [-13.880559921264648, -2.9467251300811768, 0.6792762279510498], [-14.130559921264648, -2.9467251300811768, 0.6792762279510498], [-14.380559921264648, -2.9467251300811768, 0.6792762279510498], [-14.622041702270508, -2.9467251300811768, 0.7439810037612915], [-14.863523483276367, -2.9467251300811768, 0.8086857795715332], [-15.113523483276367, -2.9467251300811768, 0.8086857795715332], [-15.363523483276367, -2.9467251300811768, 0.8086857795715332], [-15.613523483276367, -2.9467251300811768, 0.8086857795715332], [-15.863523483276367, -2.9467251300811768, 0.8086857795715332], [-16.113523483276367, -2.9467251300811768, 0.8086857795715332], [-16.363523483276367, -2.9467251300811768, 0.8086857795715332], [-16.613523483276367, -2.9467251300811768, 0.8086857795715332], [-16.855005264282227, -2.9467251300811768, 0.8733905553817749], [-17.096487045288086, -2.9467251300811768, 0.9380953311920166], [-17.337968826293945, -2.9467251300811768, 1.0028001070022583], [-17.587968826293945, -2.9467251300811768, 1.0028001070022583], [-17.829450607299805, -2.9467251300811768, 1.0675048828125], [-18.070932388305664, -2.9467251300811768, 1.1322096586227417], [-18.312414169311523, -2.9467251300811768, 1.1969144344329834], [-18.528921127319336, -2.9467251300811768, 1.3219144344329834], [-18.74542808532715, -2.9467251300811768, 1.4469144344329834], [-18.96193504333496, -2.9467251300811768, 1.5719144344329834], [-19.178442001342773, -2.9467251300811768, 1.6969144344329834], [-19.419923782348633, -3.0003015995025635, 1.761619210243225], [-19.669923782348633, -3.142298698425293, 1.761619210243225], [-19.911405563354492, -3.118727207183838, 1.8263239860534668], [-20.15288734436035, -3.1467251777648926, 1.8910287618637085], [-20.39436912536621, -3.1467251777648926, 1.9557335376739502], [-20.63585090637207, -3.1467251777648926, 2.0204381942749023]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 258, "episode_id": "259", "scene_id": "b8cTxDM8gDG", "instruction": "Walk past the stairs and the blue counter top.  Go outside onto the deck and stop after stepping off the mat. ", "start_position": [-7.2327799797058105, -2.9014892578125, 0.5498660206794739], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-20.89240074157715, -3.1467251777648926, 2.128040075302124], "goal_radius": 3.0, "reference_path": "[[-7.2327799797058105, -2.9014892578125, 0.5498660206794739], [-8.110750198364258, -2.9308793544769287, 0.7016819715499878], [-10.789600372314453, -2.8647985458374023, 1.025920033454895], [-12.772100448608398, -2.9467251300811768, 0.6147540211677551], [-15.291500091552734, -2.9467251300811768, 0.8437520265579224], [-17.892000198364258, -2.9467251300811768, 1.0257400274276733], [-20.89240074157715, -3.1467251777648926, 2.128040075302124]]", "geodesic_distance": 13.756729125976562, "gt_locations": "[[-7.2327799797058105, -2.9014892578125, 0.5498660206794739], [-7.474261283874512, -2.7714552879333496, 0.6145708560943604], [-7.715742588043213, -2.851308822631836, 0.6792756915092468], [-7.957223892211914, -2.8799972534179688, 0.7439805269241333], [-8.198705673217773, -2.9467251300811768, 0.8086853623390198], [-8.448705673217773, -2.8192150592803955, 0.8086854219436646], [-8.698705673217773, -2.792663097381592, 0.8086854219436646], [-8.948705673217773, -2.7661874294281006, 0.8086854219436646], [-9.198705673217773, -2.746725082397461, 0.8086854219436646], [-9.448705673217773, -2.746725082397461, 0.8086854219436646], [-9.698705673217773, -2.7677559852600098, 0.8086854219436646], [-9.940187454223633, -2.806962728500366, 0.8733901977539062], [-10.181669235229492, -2.8461697101593018, 0.938094973564148], [-10.423151016235352, -2.8565821647644043, 1.0027997493743896], [-10.673151016235352, -2.868321180343628, 1.0027997493743896], [-10.914632797241211, -2.8714189529418945, 0.9380950331687927], [-11.15611457824707, -2.874516725540161, 0.8733903169631958], [-11.39759635925293, -2.8776144981384277, 0.8086856007575989], [-11.639078140258789, -2.8807120323181152, 0.743980884552002], [-11.880559921264648, -2.899092435836792, 0.679276168346405], [-12.130559921264648, -2.9187896251678467, 0.6792762279510498], [-12.380559921264648, -2.9384865760803223, 0.6792762279510498], [-12.630559921264648, -2.9467251300811768, 0.6792762279510498], [-12.880559921264648, -2.9467251300811768, 0.6792762279510498], [-13.130559921264648, -2.9467251300811768, 0.6792762279510498], [-13.380559921264648, -2.9467251300811768, 0.6792762279510498], [-13.630559921264648, -2.9467251300811768, 0.6792762279510498], [-13.880559921264648, -2.9467251300811768, 0.6792762279510498], [-14.130559921264648, -2.9467251300811768, 0.6792762279510498], [-14.380559921264648, -2.9467251300811768, 0.6792762279510498], [-14.622041702270508, -2.9467251300811768, 0.7439810037612915], [-14.863523483276367, -2.9467251300811768, 0.8086857795715332], [-15.113523483276367, -2.9467251300811768, 0.8086857795715332], [-15.363523483276367, -2.9467251300811768, 0.8086857795715332], [-15.613523483276367, -2.9467251300811768, 0.8086857795715332], [-15.863523483276367, -2.9467251300811768, 0.8086857795715332], [-16.113523483276367, -2.9467251300811768, 0.8086857795715332], [-16.363523483276367, -2.9467251300811768, 0.8086857795715332], [-16.613523483276367, -2.9467251300811768, 0.8086857795715332], [-16.855005264282227, -2.9467251300811768, 0.8733905553817749], [-17.096487045288086, -2.9467251300811768, 0.9380953311920166], [-17.337968826293945, -2.9467251300811768, 1.0028001070022583], [-17.587968826293945, -2.9467251300811768, 1.0028001070022583], [-17.829450607299805, -2.9467251300811768, 1.0675048828125], [-18.070932388305664, -2.9467251300811768, 1.1322096586227417], [-18.312414169311523, -2.9467251300811768, 1.1969144344329834], [-18.528921127319336, -2.9467251300811768, 1.3219144344329834], [-18.74542808532715, -2.9467251300811768, 1.4469144344329834], [-18.96193504333496, -2.9467251300811768, 1.5719144344329834], [-19.178442001342773, -2.9467251300811768, 1.6969144344329834], [-19.419923782348633, -3.0003015995025635, 1.761619210243225], [-19.669923782348633, -3.142298698425293, 1.761619210243225], [-19.911405563354492, -3.118727207183838, 1.8263239860534668], [-20.15288734436035, -3.1467251777648926, 1.8910287618637085], [-20.39436912536621, -3.1467251777648926, 1.9557335376739502], [-20.63585090637207, -3.1467251777648926, 2.0204381942749023]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 259, "episode_id": "260", "scene_id": "B6ByNegPMKs", "instruction": "Walk out of the office room and turn right. Take another right into the empty room and wait there. ", "start_position": [44.53350067138672, 0.08020400255918503, 16.876800537109375], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [44.10060119628906, 0.08020400255918503, 22.70159912109375], "goal_radius": 3.0, "reference_path": "[[44.53350067138672, 0.08020400255918503, 16.876800537109375], [45.90019989013672, 0.08020400255918503, 16.440200805664062], [45.95009994506836, 0.08020400255918503, 17.706600189208984], [45.8843994140625, 0.08020400255918503, 19.20800018310547], [45.95690155029297, 0.08020400255918503, 21.079599380493164], [45.34189987182617, 0.08020400255918503, 22.819499969482422], [44.10060119628906, 0.08020400255918503, 22.70159912109375]]", "geodesic_distance": 7.907238960266113, "gt_locations": "[[44.53350067138672, 0.08020400255918503, 16.876800537109375], [44.75000762939453, 0.08020400255918503, 16.751800537109375], [44.966514587402344, 0.08020400255918503, 16.626800537109375], [45.2079963684082, 0.08020400255918503, 16.562095642089844], [45.44947814941406, 0.08020400255918503, 16.497390747070312], [45.57447814941406, 0.08020400255918503, 16.713897705078125], [45.69947814941406, 0.08020400255918503, 16.930404663085938], [45.764183044433594, 0.08020400255918503, 17.171886444091797], [45.828887939453125, 0.08020400255918503, 17.413368225097656], [45.828887939453125, 0.08020400255918503, 17.663368225097656], [45.828887939453125, 0.08020400255918503, 17.913368225097656], [45.828887939453125, 0.08020400255918503, 18.163368225097656], [45.828887939453125, 0.08020400255918503, 18.413368225097656], [45.828887939453125, 0.08020400255918503, 18.663368225097656], [45.828887939453125, 0.08020400255918503, 18.913368225097656], [45.828887939453125, 0.08020400255918503, 19.163368225097656], [45.828887939453125, 0.08020400255918503, 19.413368225097656], [45.828887939453125, 0.08020400255918503, 19.663368225097656], [45.828887939453125, 0.08020400255918503, 19.913368225097656], [45.828887939453125, 0.08020400255918503, 20.163368225097656], [45.828887939453125, 0.08020400255918503, 20.413368225097656], [45.893592834472656, 0.08020400255918503, 20.654850006103516], [45.828887939453125, 0.08020400255918503, 20.896331787109375], [45.764183044433594, 0.08020400255918503, 21.137813568115234], [45.69947814941406, 0.08020400255918503, 21.379295349121094], [45.63477325439453, 0.08020400255918503, 21.620777130126953], [45.63477325439453, 0.08020400255918503, 21.870777130126953], [45.63477325439453, 0.08020400255918503, 22.120777130126953], [45.570068359375, 0.08020400255918503, 22.362258911132812], [45.445068359375, 0.08020400255918503, 22.578765869140625], [45.195068359375, 0.08020400255918503, 22.643896102905273], [44.945068359375, 0.08020400255918503, 22.643896102905273], [44.695068359375, 0.08020400255918503, 22.643896102905273], [44.445068359375, 0.08020400255918503, 22.643896102905273]]", "gt_actions": "[1, 1, 3, 1, 1, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 3, 3, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 260, "episode_id": "261", "scene_id": "B6ByNegPMKs", "instruction": "Walk out of the room and make an immediate right.  Walk down the hallway and enter the first door on your right.  Wait here. ", "start_position": [44.53350067138672, 0.08020400255918503, 16.876800537109375], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [44.10060119628906, 0.08020400255918503, 22.70159912109375], "goal_radius": 3.0, "reference_path": "[[44.53350067138672, 0.08020400255918503, 16.876800537109375], [45.90019989013672, 0.08020400255918503, 16.440200805664062], [45.95009994506836, 0.08020400255918503, 17.706600189208984], [45.8843994140625, 0.08020400255918503, 19.20800018310547], [45.95690155029297, 0.08020400255918503, 21.079599380493164], [45.34189987182617, 0.08020400255918503, 22.819499969482422], [44.10060119628906, 0.08020400255918503, 22.70159912109375]]", "geodesic_distance": 7.907238960266113, "gt_locations": "[[44.53350067138672, 0.08020400255918503, 16.876800537109375], [44.75000762939453, 0.08020400255918503, 16.751800537109375], [44.966514587402344, 0.08020400255918503, 16.626800537109375], [45.2079963684082, 0.08020400255918503, 16.562095642089844], [45.44947814941406, 0.08020400255918503, 16.497390747070312], [45.57447814941406, 0.08020400255918503, 16.713897705078125], [45.69947814941406, 0.08020400255918503, 16.930404663085938], [45.764183044433594, 0.08020400255918503, 17.171886444091797], [45.828887939453125, 0.08020400255918503, 17.413368225097656], [45.828887939453125, 0.08020400255918503, 17.663368225097656], [45.828887939453125, 0.08020400255918503, 17.913368225097656], [45.828887939453125, 0.08020400255918503, 18.163368225097656], [45.828887939453125, 0.08020400255918503, 18.413368225097656], [45.828887939453125, 0.08020400255918503, 18.663368225097656], [45.828887939453125, 0.08020400255918503, 18.913368225097656], [45.828887939453125, 0.08020400255918503, 19.163368225097656], [45.828887939453125, 0.08020400255918503, 19.413368225097656], [45.828887939453125, 0.08020400255918503, 19.663368225097656], [45.828887939453125, 0.08020400255918503, 19.913368225097656], [45.828887939453125, 0.08020400255918503, 20.163368225097656], [45.828887939453125, 0.08020400255918503, 20.413368225097656], [45.893592834472656, 0.08020400255918503, 20.654850006103516], [45.828887939453125, 0.08020400255918503, 20.896331787109375], [45.764183044433594, 0.08020400255918503, 21.137813568115234], [45.69947814941406, 0.08020400255918503, 21.379295349121094], [45.63477325439453, 0.08020400255918503, 21.620777130126953], [45.63477325439453, 0.08020400255918503, 21.870777130126953], [45.63477325439453, 0.08020400255918503, 22.120777130126953], [45.570068359375, 0.08020400255918503, 22.362258911132812], [45.445068359375, 0.08020400255918503, 22.578765869140625], [45.195068359375, 0.08020400255918503, 22.643896102905273], [44.945068359375, 0.08020400255918503, 22.643896102905273], [44.695068359375, 0.08020400255918503, 22.643896102905273], [44.445068359375, 0.08020400255918503, 22.643896102905273]]", "gt_actions": "[1, 1, 3, 1, 1, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 3, 3, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 261, "episode_id": "262", "scene_id": "B6ByNegPMKs", "instruction": "Exit the desk room. Turn right. Follow corridor. Turn into the next door on the right. Enter the empty room. Stop there. ", "start_position": [44.53350067138672, 0.08020400255918503, 16.876800537109375], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [44.10060119628906, 0.08020400255918503, 22.70159912109375], "goal_radius": 3.0, "reference_path": "[[44.53350067138672, 0.08020400255918503, 16.876800537109375], [45.90019989013672, 0.08020400255918503, 16.440200805664062], [45.95009994506836, 0.08020400255918503, 17.706600189208984], [45.8843994140625, 0.08020400255918503, 19.20800018310547], [45.95690155029297, 0.08020400255918503, 21.079599380493164], [45.34189987182617, 0.08020400255918503, 22.819499969482422], [44.10060119628906, 0.08020400255918503, 22.70159912109375]]", "geodesic_distance": 7.907238960266113, "gt_locations": "[[44.53350067138672, 0.08020400255918503, 16.876800537109375], [44.75000762939453, 0.08020400255918503, 16.751800537109375], [44.966514587402344, 0.08020400255918503, 16.626800537109375], [45.2079963684082, 0.08020400255918503, 16.562095642089844], [45.44947814941406, 0.08020400255918503, 16.497390747070312], [45.57447814941406, 0.08020400255918503, 16.713897705078125], [45.69947814941406, 0.08020400255918503, 16.930404663085938], [45.764183044433594, 0.08020400255918503, 17.171886444091797], [45.828887939453125, 0.08020400255918503, 17.413368225097656], [45.828887939453125, 0.08020400255918503, 17.663368225097656], [45.828887939453125, 0.08020400255918503, 17.913368225097656], [45.828887939453125, 0.08020400255918503, 18.163368225097656], [45.828887939453125, 0.08020400255918503, 18.413368225097656], [45.828887939453125, 0.08020400255918503, 18.663368225097656], [45.828887939453125, 0.08020400255918503, 18.913368225097656], [45.828887939453125, 0.08020400255918503, 19.163368225097656], [45.828887939453125, 0.08020400255918503, 19.413368225097656], [45.828887939453125, 0.08020400255918503, 19.663368225097656], [45.828887939453125, 0.08020400255918503, 19.913368225097656], [45.828887939453125, 0.08020400255918503, 20.163368225097656], [45.828887939453125, 0.08020400255918503, 20.413368225097656], [45.893592834472656, 0.08020400255918503, 20.654850006103516], [45.828887939453125, 0.08020400255918503, 20.896331787109375], [45.764183044433594, 0.08020400255918503, 21.137813568115234], [45.69947814941406, 0.08020400255918503, 21.379295349121094], [45.63477325439453, 0.08020400255918503, 21.620777130126953], [45.63477325439453, 0.08020400255918503, 21.870777130126953], [45.63477325439453, 0.08020400255918503, 22.120777130126953], [45.570068359375, 0.08020400255918503, 22.362258911132812], [45.445068359375, 0.08020400255918503, 22.578765869140625], [45.195068359375, 0.08020400255918503, 22.643896102905273], [44.945068359375, 0.08020400255918503, 22.643896102905273], [44.695068359375, 0.08020400255918503, 22.643896102905273], [44.445068359375, 0.08020400255918503, 22.643896102905273]]", "gt_actions": "[1, 1, 3, 1, 1, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 3, 3, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 262, "episode_id": "263", "scene_id": "s8pcmisQ38h", "instruction": "Walk forward and make your way up the steps, turn left and make your way past the chair before stopping at the beginning of the stairs. ", "start_position": [6.707250118255615, -1.462388277053833, 2.811959981918335], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [11.258399963378906, 1.0383260250091553, -2.5858399868011475], "goal_radius": 3.0, "reference_path": "[[6.707250118255615, -1.462388277053833, 2.811959981918335], [8.381290435791016, -1.3410577774047852, 2.8241400718688965], [9.750869750976562, -0.5817652940750122, 2.7357900142669678], [11.116000175476074, 0.06797964125871658, 2.6922199726104736], [11.258399963378906, 1.0383260250091553, -2.5858399868011475]]", "geodesic_distance": 10.200865745544434, "gt_locations": "[[6.707250118255615, -1.462388277053833, 2.811959981918335], [6.957250118255615, -1.4461610317230225, 2.811959981918335], [7.207250118255615, -1.4299339056015015, 2.811959981918335], [7.457250118255615, -1.413706660270691, 2.811959981918335], [7.707250118255615, -1.39747953414917, 2.811959981918335], [7.957250118255615, -1.381252408027649, 2.811959981918335], [8.207250595092773, -1.3650251626968384, 2.811959981918335], [8.457250595092773, -1.3322855234146118, 2.811959981918335], [8.707250595092773, -1.2952485084533691, 2.811959981918335], [8.957250595092773, -1.2309612035751343, 2.811959981918335], [9.207250595092773, -0.9986377954483032, 2.811959981918335], [9.457250595092773, -0.7729649543762207, 2.811959981918335], [9.707250595092773, -0.611853837966919, 2.811959981918335], [9.957250595092773, -0.46131405234336853, 2.811959981918335], [10.207250595092773, -0.31890901923179626, 2.811959981918335], [10.457250595092773, -0.1765040159225464, 2.811959981918335], [10.707250595092773, 0.03832602500915527, 2.811959981918335], [10.884027481079102, 0.047673486173152924, 2.635183334350586], [11.100533485412598, 0.03832602500915527, 2.510183334350586], [11.277310371398926, 0.03832602500915527, 2.333406686782837], [11.454087257385254, 0.03832602500915527, 2.156630039215088], [11.630864143371582, 0.03832602500915527, 1.9798533916473389], [11.80764102935791, 0.03832602500915527, 1.8030767440795898], [11.84949779510498, 0.03832602500915527, 1.5530767440795898], [11.84949779510498, 0.03832602500915527, 1.3030767440795898], [11.84949779510498, 0.03832602500915527, 1.0530767440795898], [11.770892143249512, 0.03832602500915527, 0.790176272392273], [11.770892143249512, 0.03832602500915527, 0.540176272392273], [11.770892143249512, 0.03832602500915527, 0.29017627239227295], [11.70618724822998, 0.03832602500915527, 0.04869481921195984], [11.70618724822998, 0.03832602500915527, -0.20130518078804016], [11.64148235321045, 0.03832602500915527, -0.44278663396835327], [11.576777458190918, 0.03832602500915527, -0.6842681169509888], [11.512072563171387, 0.03832602500915527, -0.9257495403289795], [11.512072563171387, 0.03832602500915527, -1.1757495403289795], [11.512072563171387, 0.14543282985687256, -1.4257495403289795], [11.512072563171387, 0.3954326808452606, -1.6757495403289795], [11.512072563171387, 0.6181553602218628, -1.9257495403289795], [11.512072563171387, 0.8510321378707886, -2.1757495403289795], [11.447367668151855, 1.030800223350525, -2.4172310829162598]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 263, "episode_id": "264", "scene_id": "s8pcmisQ38h", "instruction": "Walk forward and go up the stairs. Take a left at the top of the stairs.Go to the next stairway and go up the stairs and stop on the landing. ", "start_position": [6.707250118255615, -1.462388277053833, 2.811959981918335], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [11.258399963378906, 1.0383260250091553, -2.5858399868011475], "goal_radius": 3.0, "reference_path": "[[6.707250118255615, -1.462388277053833, 2.811959981918335], [8.381290435791016, -1.3410577774047852, 2.8241400718688965], [9.750869750976562, -0.5817652940750122, 2.7357900142669678], [11.116000175476074, 0.06797964125871658, 2.6922199726104736], [11.258399963378906, 1.0383260250091553, -2.5858399868011475]]", "geodesic_distance": 10.200865745544434, "gt_locations": "[[6.707250118255615, -1.462388277053833, 2.811959981918335], [6.957250118255615, -1.4461610317230225, 2.811959981918335], [7.207250118255615, -1.4299339056015015, 2.811959981918335], [7.457250118255615, -1.413706660270691, 2.811959981918335], [7.707250118255615, -1.39747953414917, 2.811959981918335], [7.957250118255615, -1.381252408027649, 2.811959981918335], [8.207250595092773, -1.3650251626968384, 2.811959981918335], [8.457250595092773, -1.3322855234146118, 2.811959981918335], [8.707250595092773, -1.2952485084533691, 2.811959981918335], [8.957250595092773, -1.2309612035751343, 2.811959981918335], [9.207250595092773, -0.9986377954483032, 2.811959981918335], [9.457250595092773, -0.7729649543762207, 2.811959981918335], [9.707250595092773, -0.611853837966919, 2.811959981918335], [9.957250595092773, -0.46131405234336853, 2.811959981918335], [10.207250595092773, -0.31890901923179626, 2.811959981918335], [10.457250595092773, -0.1765040159225464, 2.811959981918335], [10.707250595092773, 0.03832602500915527, 2.811959981918335], [10.884027481079102, 0.047673486173152924, 2.635183334350586], [11.100533485412598, 0.03832602500915527, 2.510183334350586], [11.277310371398926, 0.03832602500915527, 2.333406686782837], [11.454087257385254, 0.03832602500915527, 2.156630039215088], [11.630864143371582, 0.03832602500915527, 1.9798533916473389], [11.80764102935791, 0.03832602500915527, 1.8030767440795898], [11.84949779510498, 0.03832602500915527, 1.5530767440795898], [11.84949779510498, 0.03832602500915527, 1.3030767440795898], [11.84949779510498, 0.03832602500915527, 1.0530767440795898], [11.770892143249512, 0.03832602500915527, 0.790176272392273], [11.770892143249512, 0.03832602500915527, 0.540176272392273], [11.770892143249512, 0.03832602500915527, 0.29017627239227295], [11.70618724822998, 0.03832602500915527, 0.04869481921195984], [11.70618724822998, 0.03832602500915527, -0.20130518078804016], [11.64148235321045, 0.03832602500915527, -0.44278663396835327], [11.576777458190918, 0.03832602500915527, -0.6842681169509888], [11.512072563171387, 0.03832602500915527, -0.9257495403289795], [11.512072563171387, 0.03832602500915527, -1.1757495403289795], [11.512072563171387, 0.14543282985687256, -1.4257495403289795], [11.512072563171387, 0.3954326808452606, -1.6757495403289795], [11.512072563171387, 0.6181553602218628, -1.9257495403289795], [11.512072563171387, 0.8510321378707886, -2.1757495403289795], [11.447367668151855, 1.030800223350525, -2.4172310829162598]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 264, "episode_id": "265", "scene_id": "s8pcmisQ38h", "instruction": "Go up the stairs then turn left and go up the stairs on the left seven steps and stop. ", "start_position": [6.707250118255615, -1.462388277053833, 2.811959981918335], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [11.258399963378906, 1.0383260250091553, -2.5858399868011475], "goal_radius": 3.0, "reference_path": "[[6.707250118255615, -1.462388277053833, 2.811959981918335], [8.381290435791016, -1.3410577774047852, 2.8241400718688965], [9.750869750976562, -0.5817652940750122, 2.7357900142669678], [11.116000175476074, 0.06797964125871658, 2.6922199726104736], [11.258399963378906, 1.0383260250091553, -2.5858399868011475]]", "geodesic_distance": 10.200865745544434, "gt_locations": "[[6.707250118255615, -1.462388277053833, 2.811959981918335], [6.957250118255615, -1.4461610317230225, 2.811959981918335], [7.207250118255615, -1.4299339056015015, 2.811959981918335], [7.457250118255615, -1.413706660270691, 2.811959981918335], [7.707250118255615, -1.39747953414917, 2.811959981918335], [7.957250118255615, -1.381252408027649, 2.811959981918335], [8.207250595092773, -1.3650251626968384, 2.811959981918335], [8.457250595092773, -1.3322855234146118, 2.811959981918335], [8.707250595092773, -1.2952485084533691, 2.811959981918335], [8.957250595092773, -1.2309612035751343, 2.811959981918335], [9.207250595092773, -0.9986377954483032, 2.811959981918335], [9.457250595092773, -0.7729649543762207, 2.811959981918335], [9.707250595092773, -0.611853837966919, 2.811959981918335], [9.957250595092773, -0.46131405234336853, 2.811959981918335], [10.207250595092773, -0.31890901923179626, 2.811959981918335], [10.457250595092773, -0.1765040159225464, 2.811959981918335], [10.707250595092773, 0.03832602500915527, 2.811959981918335], [10.884027481079102, 0.047673486173152924, 2.635183334350586], [11.100533485412598, 0.03832602500915527, 2.510183334350586], [11.277310371398926, 0.03832602500915527, 2.333406686782837], [11.454087257385254, 0.03832602500915527, 2.156630039215088], [11.630864143371582, 0.03832602500915527, 1.9798533916473389], [11.80764102935791, 0.03832602500915527, 1.8030767440795898], [11.84949779510498, 0.03832602500915527, 1.5530767440795898], [11.84949779510498, 0.03832602500915527, 1.3030767440795898], [11.84949779510498, 0.03832602500915527, 1.0530767440795898], [11.770892143249512, 0.03832602500915527, 0.790176272392273], [11.770892143249512, 0.03832602500915527, 0.540176272392273], [11.770892143249512, 0.03832602500915527, 0.29017627239227295], [11.70618724822998, 0.03832602500915527, 0.04869481921195984], [11.70618724822998, 0.03832602500915527, -0.20130518078804016], [11.64148235321045, 0.03832602500915527, -0.44278663396835327], [11.576777458190918, 0.03832602500915527, -0.6842681169509888], [11.512072563171387, 0.03832602500915527, -0.9257495403289795], [11.512072563171387, 0.03832602500915527, -1.1757495403289795], [11.512072563171387, 0.14543282985687256, -1.4257495403289795], [11.512072563171387, 0.3954326808452606, -1.6757495403289795], [11.512072563171387, 0.6181553602218628, -1.9257495403289795], [11.512072563171387, 0.8510321378707886, -2.1757495403289795], [11.447367668151855, 1.030800223350525, -2.4172310829162598]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 265, "episode_id": "266", "scene_id": "r47D5H71a5s", "instruction": "Walk towards the pool, walk along the left side of the pool, enter the massage room. ", "start_position": [8.938150405883789, 0.09863299131393433, -6.811880111694336], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [15.469099998474121, 0.09863299131393433, -9.147879600524902], "goal_radius": 3.0, "reference_path": "[[8.938150405883789, 0.09863299131393433, -6.811880111694336], [11.768199920654297, 0.09863299131393433, -7.3206400871276855], [13.258000373840332, 0.09863299131393433, -8.077159881591797], [14.441100120544434, 0.09863299131393433, -8.508560180664062], [15.469099998474121, 0.09863299131393433, -9.147879600524902]]", "geodesic_distance": 6.952868938446045, "gt_locations": "[[8.938150405883789, 0.09863299131393433, -6.811880111694336], [9.179632186889648, 0.09863299131393433, -6.876585006713867], [9.421113967895508, 0.09863299131393433, -6.941289901733398], [9.662595748901367, 0.09863299131393433, -7.00599479675293], [9.904077529907227, 0.09863299131393433, -7.070699691772461], [10.145559310913086, 0.09863299131393433, -7.135404586791992], [10.387041091918945, 0.09863299131393433, -7.200109481811523], [10.637041091918945, 0.09863299131393433, -7.200109481811523], [10.887041091918945, 0.09863299131393433, -7.200109481811523], [11.137041091918945, 0.09863299131393433, -7.200109481811523], [11.378522872924805, 0.09863299131393433, -7.264814376831055], [11.620004653930664, 0.09863299131393433, -7.329519271850586], [11.861486434936523, 0.09863299131393433, -7.394224166870117], [12.07799243927002, 0.09863299131393433, -7.519224166870117], [12.294498443603516, 0.09863299131393433, -7.644224166870117], [12.511004447937012, 0.09863299131393433, -7.769224166870117], [12.727510452270508, 0.09863299131393433, -7.894224166870117], [12.944016456604004, 0.09863299131393433, -8.019224166870117], [13.185498237609863, 0.09863299131393433, -8.083929061889648], [13.426980018615723, 0.09863299131393433, -8.14863395690918], [13.668461799621582, 0.09863299131393433, -8.213338851928711], [13.909943580627441, 0.09863299131393433, -8.278043746948242], [14.1514253616333, 0.09863299131393433, -8.342748641967773], [14.367931365966797, 0.09863299131393433, -8.467748641967773], [14.584437370300293, 0.09863299131393433, -8.592748641967773], [14.800943374633789, 0.09863299131393433, -8.717748641967773], [14.977720260620117, 0.09863299131393433, -8.894525527954102], [15.194226264953613, 0.09863299131393433, -9.019525527954102]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 266, "episode_id": "267", "scene_id": "r47D5H71a5s", "instruction": "Walk to doorway to the left of the pool stop just inside dim room with massage table. ", "start_position": [8.938150405883789, 0.09863299131393433, -6.811880111694336], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [15.469099998474121, 0.09863299131393433, -9.147879600524902], "goal_radius": 3.0, "reference_path": "[[8.938150405883789, 0.09863299131393433, -6.811880111694336], [11.768199920654297, 0.09863299131393433, -7.3206400871276855], [13.258000373840332, 0.09863299131393433, -8.077159881591797], [14.441100120544434, 0.09863299131393433, -8.508560180664062], [15.469099998474121, 0.09863299131393433, -9.147879600524902]]", "geodesic_distance": 6.952868938446045, "gt_locations": "[[8.938150405883789, 0.09863299131393433, -6.811880111694336], [9.179632186889648, 0.09863299131393433, -6.876585006713867], [9.421113967895508, 0.09863299131393433, -6.941289901733398], [9.662595748901367, 0.09863299131393433, -7.00599479675293], [9.904077529907227, 0.09863299131393433, -7.070699691772461], [10.145559310913086, 0.09863299131393433, -7.135404586791992], [10.387041091918945, 0.09863299131393433, -7.200109481811523], [10.637041091918945, 0.09863299131393433, -7.200109481811523], [10.887041091918945, 0.09863299131393433, -7.200109481811523], [11.137041091918945, 0.09863299131393433, -7.200109481811523], [11.378522872924805, 0.09863299131393433, -7.264814376831055], [11.620004653930664, 0.09863299131393433, -7.329519271850586], [11.861486434936523, 0.09863299131393433, -7.394224166870117], [12.07799243927002, 0.09863299131393433, -7.519224166870117], [12.294498443603516, 0.09863299131393433, -7.644224166870117], [12.511004447937012, 0.09863299131393433, -7.769224166870117], [12.727510452270508, 0.09863299131393433, -7.894224166870117], [12.944016456604004, 0.09863299131393433, -8.019224166870117], [13.185498237609863, 0.09863299131393433, -8.083929061889648], [13.426980018615723, 0.09863299131393433, -8.14863395690918], [13.668461799621582, 0.09863299131393433, -8.213338851928711], [13.909943580627441, 0.09863299131393433, -8.278043746948242], [14.1514253616333, 0.09863299131393433, -8.342748641967773], [14.367931365966797, 0.09863299131393433, -8.467748641967773], [14.584437370300293, 0.09863299131393433, -8.592748641967773], [14.800943374633789, 0.09863299131393433, -8.717748641967773], [14.977720260620117, 0.09863299131393433, -8.894525527954102], [15.194226264953613, 0.09863299131393433, -9.019525527954102]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 267, "episode_id": "268", "scene_id": "r47D5H71a5s", "instruction": "Go straight until you pass the pool. Go into the hallway and into the small room with the bed. ", "start_position": [8.938150405883789, 0.09863299131393433, -6.811880111694336], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [15.469099998474121, 0.09863299131393433, -9.147879600524902], "goal_radius": 3.0, "reference_path": "[[8.938150405883789, 0.09863299131393433, -6.811880111694336], [11.768199920654297, 0.09863299131393433, -7.3206400871276855], [13.258000373840332, 0.09863299131393433, -8.077159881591797], [14.441100120544434, 0.09863299131393433, -8.508560180664062], [15.469099998474121, 0.09863299131393433, -9.147879600524902]]", "geodesic_distance": 6.952868938446045, "gt_locations": "[[8.938150405883789, 0.09863299131393433, -6.811880111694336], [9.179632186889648, 0.09863299131393433, -6.876585006713867], [9.421113967895508, 0.09863299131393433, -6.941289901733398], [9.662595748901367, 0.09863299131393433, -7.00599479675293], [9.904077529907227, 0.09863299131393433, -7.070699691772461], [10.145559310913086, 0.09863299131393433, -7.135404586791992], [10.387041091918945, 0.09863299131393433, -7.200109481811523], [10.637041091918945, 0.09863299131393433, -7.200109481811523], [10.887041091918945, 0.09863299131393433, -7.200109481811523], [11.137041091918945, 0.09863299131393433, -7.200109481811523], [11.378522872924805, 0.09863299131393433, -7.264814376831055], [11.620004653930664, 0.09863299131393433, -7.329519271850586], [11.861486434936523, 0.09863299131393433, -7.394224166870117], [12.07799243927002, 0.09863299131393433, -7.519224166870117], [12.294498443603516, 0.09863299131393433, -7.644224166870117], [12.511004447937012, 0.09863299131393433, -7.769224166870117], [12.727510452270508, 0.09863299131393433, -7.894224166870117], [12.944016456604004, 0.09863299131393433, -8.019224166870117], [13.185498237609863, 0.09863299131393433, -8.083929061889648], [13.426980018615723, 0.09863299131393433, -8.14863395690918], [13.668461799621582, 0.09863299131393433, -8.213338851928711], [13.909943580627441, 0.09863299131393433, -8.278043746948242], [14.1514253616333, 0.09863299131393433, -8.342748641967773], [14.367931365966797, 0.09863299131393433, -8.467748641967773], [14.584437370300293, 0.09863299131393433, -8.592748641967773], [14.800943374633789, 0.09863299131393433, -8.717748641967773], [14.977720260620117, 0.09863299131393433, -8.894525527954102], [15.194226264953613, 0.09863299131393433, -9.019525527954102]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 0]"}
{"id": 268, "episode_id": "269", "scene_id": "1LXtFkjw3qL", "instruction": "Exit the gym room. Turn left. Walk inside the room with the graffiti wall. Stop  near the graffiti wall. ", "start_position": [-4.742159843444824, -2.2288169860839844, 1.5268700122833252], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-0.4909859895706177, -2.31558895111084, -2.8957600593566895], "goal_radius": 3.0, "reference_path": "[[-4.742159843444824, -2.2288169860839844, 1.5268700122833252], [-3.4352500438690186, -2.31558895111084, 1.3225799798965454], [-1.3746600151062012, -2.31558895111084, 0.08584210276603699], [-0.8020370006561279, -2.31558895111084, 0.1292169988155365], [-0.4909859895706177, -2.31558895111084, -2.8957600593566895]]", "geodesic_distance": 7.164676666259766, "gt_locations": "[[-4.742159843444824, -2.2288169860839844, 1.5268700122833252], [-4.500678539276123, -2.2052791118621826, 1.4621652364730835], [-4.259197235107422, -2.1708836555480957, 1.3974604606628418], [-4.017715930938721, -2.2450811862945557, 1.3327556848526], [-3.7677159309387207, -2.31558895111084, 1.3327556848526], [-3.5262343883514404, -2.31558895111084, 1.2680509090423584], [-3.309727907180786, -2.31558895111084, 1.1430509090423584], [-3.093221426010132, -2.31558895111084, 1.0180509090423584], [-2.8767149448394775, -2.31558895111084, 0.8930509090423584], [-2.6352334022521973, -2.31558895111084, 0.8283461928367615], [-2.4584567546844482, -2.31558895111084, 0.6515694856643677], [-2.2390670776367188, -2.31558895111084, 0.497734010219574], [-2.0225605964660645, -2.31558895111084, 0.372734010219574], [-1.8060542345046997, -2.31558895111084, 0.24773401021957397], [-1.564572811126709, -2.31558895111084, 0.18302924931049347], [-1.314572811126709, -2.31558895111084, 0.18302923440933228], [-1.064572811126709, -2.31558895111084, 0.18302921950817108], [-0.8877961039543152, -2.31558895111084, 0.006252512335777283], [-0.7110193967819214, -2.31558895111084, -0.17052419483661652], [-0.6760458946228027, -2.31558895111084, -0.4205241799354553], [-0.6760458946228027, -2.31558895111084, -0.6705241799354553], [-0.6760458946228027, -2.31558895111084, -0.9205241799354553], [-0.611341118812561, -2.31558895111084, -1.1620056629180908], [-0.6217436194419861, -2.31558895111084, -1.4252079725265503], [-0.6217436194419861, -2.31558895111084, -1.6752079725265503], [-0.6217436194419861, -2.31558895111084, -1.9252079725265503], [-0.6217436194419861, -2.31558895111084, -2.17520809173584], [-0.5570388436317444, -2.31558895111084, -2.41668963432312]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 3, 1, 3, 1, 1, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 269, "episode_id": "270", "scene_id": "1LXtFkjw3qL", "instruction": "Leave the exercise room, turn left, enter the doorway, and wait. ", "start_position": [-4.742159843444824, -2.2288169860839844, 1.5268700122833252], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-0.4909859895706177, -2.31558895111084, -2.8957600593566895], "goal_radius": 3.0, "reference_path": "[[-4.742159843444824, -2.2288169860839844, 1.5268700122833252], [-3.4352500438690186, -2.31558895111084, 1.3225799798965454], [-1.3746600151062012, -2.31558895111084, 0.08584210276603699], [-0.8020370006561279, -2.31558895111084, 0.1292169988155365], [-0.4909859895706177, -2.31558895111084, -2.8957600593566895]]", "geodesic_distance": 7.164676666259766, "gt_locations": "[[-4.742159843444824, -2.2288169860839844, 1.5268700122833252], [-4.500678539276123, -2.2052791118621826, 1.4621652364730835], [-4.259197235107422, -2.1708836555480957, 1.3974604606628418], [-4.017715930938721, -2.2450811862945557, 1.3327556848526], [-3.7677159309387207, -2.31558895111084, 1.3327556848526], [-3.5262343883514404, -2.31558895111084, 1.2680509090423584], [-3.309727907180786, -2.31558895111084, 1.1430509090423584], [-3.093221426010132, -2.31558895111084, 1.0180509090423584], [-2.8767149448394775, -2.31558895111084, 0.8930509090423584], [-2.6352334022521973, -2.31558895111084, 0.8283461928367615], [-2.4584567546844482, -2.31558895111084, 0.6515694856643677], [-2.2390670776367188, -2.31558895111084, 0.497734010219574], [-2.0225605964660645, -2.31558895111084, 0.372734010219574], [-1.8060542345046997, -2.31558895111084, 0.24773401021957397], [-1.564572811126709, -2.31558895111084, 0.18302924931049347], [-1.314572811126709, -2.31558895111084, 0.18302923440933228], [-1.064572811126709, -2.31558895111084, 0.18302921950817108], [-0.8877961039543152, -2.31558895111084, 0.006252512335777283], [-0.7110193967819214, -2.31558895111084, -0.17052419483661652], [-0.6760458946228027, -2.31558895111084, -0.4205241799354553], [-0.6760458946228027, -2.31558895111084, -0.6705241799354553], [-0.6760458946228027, -2.31558895111084, -0.9205241799354553], [-0.611341118812561, -2.31558895111084, -1.1620056629180908], [-0.6217436194419861, -2.31558895111084, -1.4252079725265503], [-0.6217436194419861, -2.31558895111084, -1.6752079725265503], [-0.6217436194419861, -2.31558895111084, -1.9252079725265503], [-0.6217436194419861, -2.31558895111084, -2.17520809173584], [-0.5570388436317444, -2.31558895111084, -2.41668963432312]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 3, 1, 3, 1, 1, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 270, "episode_id": "271", "scene_id": "1LXtFkjw3qL", "instruction": "move forward past the exercise equipment and exit the room through the doorway. Once outside the room, turn left and enter that doorway, then wait in that room. ", "start_position": [-4.742159843444824, -2.2288169860839844, 1.5268700122833252], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-0.4909859895706177, -2.31558895111084, -2.8957600593566895], "goal_radius": 3.0, "reference_path": "[[-4.742159843444824, -2.2288169860839844, 1.5268700122833252], [-3.4352500438690186, -2.31558895111084, 1.3225799798965454], [-1.3746600151062012, -2.31558895111084, 0.08584210276603699], [-0.8020370006561279, -2.31558895111084, 0.1292169988155365], [-0.4909859895706177, -2.31558895111084, -2.8957600593566895]]", "geodesic_distance": 7.164676666259766, "gt_locations": "[[-4.742159843444824, -2.2288169860839844, 1.5268700122833252], [-4.500678539276123, -2.2052791118621826, 1.4621652364730835], [-4.259197235107422, -2.1708836555480957, 1.3974604606628418], [-4.017715930938721, -2.2450811862945557, 1.3327556848526], [-3.7677159309387207, -2.31558895111084, 1.3327556848526], [-3.5262343883514404, -2.31558895111084, 1.2680509090423584], [-3.309727907180786, -2.31558895111084, 1.1430509090423584], [-3.093221426010132, -2.31558895111084, 1.0180509090423584], [-2.8767149448394775, -2.31558895111084, 0.8930509090423584], [-2.6352334022521973, -2.31558895111084, 0.8283461928367615], [-2.4584567546844482, -2.31558895111084, 0.6515694856643677], [-2.2390670776367188, -2.31558895111084, 0.497734010219574], [-2.0225605964660645, -2.31558895111084, 0.372734010219574], [-1.8060542345046997, -2.31558895111084, 0.24773401021957397], [-1.564572811126709, -2.31558895111084, 0.18302924931049347], [-1.314572811126709, -2.31558895111084, 0.18302923440933228], [-1.064572811126709, -2.31558895111084, 0.18302921950817108], [-0.8877961039543152, -2.31558895111084, 0.006252512335777283], [-0.7110193967819214, -2.31558895111084, -0.17052419483661652], [-0.6760458946228027, -2.31558895111084, -0.4205241799354553], [-0.6760458946228027, -2.31558895111084, -0.6705241799354553], [-0.6760458946228027, -2.31558895111084, -0.9205241799354553], [-0.611341118812561, -2.31558895111084, -1.1620056629180908], [-0.6217436194419861, -2.31558895111084, -1.4252079725265503], [-0.6217436194419861, -2.31558895111084, -1.6752079725265503], [-0.6217436194419861, -2.31558895111084, -1.9252079725265503], [-0.6217436194419861, -2.31558895111084, -2.17520809173584], [-0.5570388436317444, -2.31558895111084, -2.41668963432312]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 3, 1, 3, 1, 1, 2, 2, 2, 1, 1, 2, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 271, "episode_id": "272", "scene_id": "mJXqzFtmKg4", "instruction": "Head down the hall toward the room with a leather couch.  Turn left at first archway and stop at the entrance to the movie theater room. ", "start_position": [-1.6997400522232056, 0.12522734701633453, 5.937129974365234], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-5.216479778289795, 0.20332103967666626, 2.4750499725341797], "goal_radius": 3.0, "reference_path": "[[-1.6997400522232056, 0.12522734701633453, 5.937129974365234], [-1.7076799869537354, 0.09258054196834564, 5.447549819946289], [-1.650730013847351, 0.17594824731349945, 4.371230125427246], [-1.6063200235366821, 0.06637373566627502, 3.1035799980163574], [-3.785130023956299, 0.05450460687279701, 3.0863699913024902], [-5.216479778289795, 0.20332103967666626, 2.4750499725341797]]", "geodesic_distance": 5.668121814727783, "gt_locations": "[[-1.6997400522232056, 0.12522734701633453, 5.937129974365234], [-1.6997400522232056, 0.09546637535095215, 5.687129974365234], [-1.6997400522232056, 0.08984842896461487, 5.437129974365234], [-1.6997400522232056, 0.09430256485939026, 5.187129974365234], [-1.6997400522232056, 0.10359635204076767, 4.937129974365234], [-1.6997400522232056, 0.136198490858078, 4.687129974365234], [-1.6997400522232056, 0.1839696317911148, 4.437129974365234], [-1.6997400522232056, 0.13851511478424072, 4.187129974365234], [-1.6997400522232056, 0.09422709047794342, 3.9371299743652344], [-1.6997400522232056, 0.08009664714336395, 3.6871299743652344], [-1.6997400522232056, 0.06596620380878448, 3.4371299743652344], [-1.9412214756011963, 0.022585928440093994, 3.3724253177642822], [-2.1827030181884766, 0.003321051597595215, 3.30772066116333], [-2.424184560775757, 0.003321051597595215, 3.243016004562378], [-2.665666103363037, 0.003321051597595215, 3.178311347961426], [-2.915666103363037, 0.003321051597595215, 3.178311347961426], [-3.165666103363037, 0.003321051597595215, 3.178311347961426], [-3.415666103363037, 0.01776953972876072, 3.178311347961426], [-3.6571476459503174, 0.04105832427740097, 3.1136066913604736], [-3.8986291885375977, 0.06434711813926697, 3.0489020347595215], [-4.140110492706299, 0.07884075492620468, 2.9841973781585693], [-4.381591796875, 0.07499194145202637, 2.919492721557617], [-4.598098278045654, 0.09375554323196411, 2.794492721557617], [-4.814604759216309, 0.16746211051940918, 2.669492721557617]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 272, "episode_id": "273", "scene_id": "mJXqzFtmKg4", "instruction": "go straight down hall to archway on your left turn left and walk straight to first doorway on your right, stop in doorway. ", "start_position": [-1.6997400522232056, 0.12522734701633453, 5.937129974365234], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-5.216479778289795, 0.20332103967666626, 2.4750499725341797], "goal_radius": 3.0, "reference_path": "[[-1.6997400522232056, 0.12522734701633453, 5.937129974365234], [-1.7076799869537354, 0.09258054196834564, 5.447549819946289], [-1.650730013847351, 0.17594824731349945, 4.371230125427246], [-1.6063200235366821, 0.06637373566627502, 3.1035799980163574], [-3.785130023956299, 0.05450460687279701, 3.0863699913024902], [-5.216479778289795, 0.20332103967666626, 2.4750499725341797]]", "geodesic_distance": 5.668121814727783, "gt_locations": "[[-1.6997400522232056, 0.12522734701633453, 5.937129974365234], [-1.6997400522232056, 0.09546637535095215, 5.687129974365234], [-1.6997400522232056, 0.08984842896461487, 5.437129974365234], [-1.6997400522232056, 0.09430256485939026, 5.187129974365234], [-1.6997400522232056, 0.10359635204076767, 4.937129974365234], [-1.6997400522232056, 0.136198490858078, 4.687129974365234], [-1.6997400522232056, 0.1839696317911148, 4.437129974365234], [-1.6997400522232056, 0.13851511478424072, 4.187129974365234], [-1.6997400522232056, 0.09422709047794342, 3.9371299743652344], [-1.6997400522232056, 0.08009664714336395, 3.6871299743652344], [-1.6997400522232056, 0.06596620380878448, 3.4371299743652344], [-1.9412214756011963, 0.022585928440093994, 3.3724253177642822], [-2.1827030181884766, 0.003321051597595215, 3.30772066116333], [-2.424184560775757, 0.003321051597595215, 3.243016004562378], [-2.665666103363037, 0.003321051597595215, 3.178311347961426], [-2.915666103363037, 0.003321051597595215, 3.178311347961426], [-3.165666103363037, 0.003321051597595215, 3.178311347961426], [-3.415666103363037, 0.01776953972876072, 3.178311347961426], [-3.6571476459503174, 0.04105832427740097, 3.1136066913604736], [-3.8986291885375977, 0.06434711813926697, 3.0489020347595215], [-4.140110492706299, 0.07884075492620468, 2.9841973781585693], [-4.381591796875, 0.07499194145202637, 2.919492721557617], [-4.598098278045654, 0.09375554323196411, 2.794492721557617], [-4.814604759216309, 0.16746211051940918, 2.669492721557617]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 273, "episode_id": "274", "scene_id": "mJXqzFtmKg4", "instruction": "Take your first left and go to the room with the leather furniture and projection screen. ", "start_position": [-1.6997400522232056, 0.12522734701633453, 5.937129974365234], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-5.216479778289795, 0.20332103967666626, 2.4750499725341797], "goal_radius": 3.0, "reference_path": "[[-1.6997400522232056, 0.12522734701633453, 5.937129974365234], [-1.7076799869537354, 0.09258054196834564, 5.447549819946289], [-1.650730013847351, 0.17594824731349945, 4.371230125427246], [-1.6063200235366821, 0.06637373566627502, 3.1035799980163574], [-3.785130023956299, 0.05450460687279701, 3.0863699913024902], [-5.216479778289795, 0.20332103967666626, 2.4750499725341797]]", "geodesic_distance": 5.668121814727783, "gt_locations": "[[-1.6997400522232056, 0.12522734701633453, 5.937129974365234], [-1.6997400522232056, 0.09546637535095215, 5.687129974365234], [-1.6997400522232056, 0.08984842896461487, 5.437129974365234], [-1.6997400522232056, 0.09430256485939026, 5.187129974365234], [-1.6997400522232056, 0.10359635204076767, 4.937129974365234], [-1.6997400522232056, 0.136198490858078, 4.687129974365234], [-1.6997400522232056, 0.1839696317911148, 4.437129974365234], [-1.6997400522232056, 0.13851511478424072, 4.187129974365234], [-1.6997400522232056, 0.09422709047794342, 3.9371299743652344], [-1.6997400522232056, 0.08009664714336395, 3.6871299743652344], [-1.6997400522232056, 0.06596620380878448, 3.4371299743652344], [-1.9412214756011963, 0.022585928440093994, 3.3724253177642822], [-2.1827030181884766, 0.003321051597595215, 3.30772066116333], [-2.424184560775757, 0.003321051597595215, 3.243016004562378], [-2.665666103363037, 0.003321051597595215, 3.178311347961426], [-2.915666103363037, 0.003321051597595215, 3.178311347961426], [-3.165666103363037, 0.003321051597595215, 3.178311347961426], [-3.415666103363037, 0.01776953972876072, 3.178311347961426], [-3.6571476459503174, 0.04105832427740097, 3.1136066913604736], [-3.8986291885375977, 0.06434711813926697, 3.0489020347595215], [-4.140110492706299, 0.07884075492620468, 2.9841973781585693], [-4.381591796875, 0.07499194145202637, 2.919492721557617], [-4.598098278045654, 0.09375554323196411, 2.794492721557617], [-4.814604759216309, 0.16746211051940918, 2.669492721557617]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 274, "episode_id": "275", "scene_id": "JF19kD82Mey", "instruction": "walk away from the bed down the marble hall, past the bathroom on your right and stairs on your left. Turn left and walk down the hall to the right of the stairs. Pass through a doorway, and walk to the foot of the bed and stop. 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{"id": 277, "episode_id": "278", "scene_id": "1pXnuDYAj8r", "instruction": "Exit the room and turn right then turn left and wait by the sink. ", "start_position": [6.165140151977539, 3.514145851135254, 12.25], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [6.315340042114258, 3.514145851135254, 6.110680103302002], "goal_radius": 3.0, "reference_path": "[[6.165140151977539, 3.514145851135254, 12.25], [5.309470176696777, 3.514145851135254, 9.560669898986816], [5.345600128173828, 3.514145851135254, 8.048270225524902], [6.3804497718811035, 3.514145851135254, 7.993269920349121], [6.315340042114258, 3.514145851135254, 6.110680103302002]]", "geodesic_distance": 6.338172912597656, "gt_locations": "[[6.165140151977539, 3.514145851135254, 12.25], [6.100435256958008, 3.514145851135254, 12.00851821899414], [6.035730361938477, 3.514145851135254, 11.767036437988281], [5.971025466918945, 3.514145851135254, 11.525554656982422], [5.906320571899414, 3.514145851135254, 11.284072875976562], [5.841615676879883, 3.514145851135254, 11.042591094970703], [5.776910781860352, 3.514145851135254, 10.801109313964844], [5.71220588684082, 3.514145851135254, 10.559627532958984], [5.647500991821289, 3.514145851135254, 10.318145751953125], [5.582796096801758, 3.514145851135254, 10.076663970947266], [5.457796096801758, 3.514145851135254, 9.86015796661377], [5.457796096801758, 3.514145851135254, 9.61015796661377], [5.457796096801758, 3.514145851135254, 9.36015796661377], [5.457796096801758, 3.514145851135254, 9.11015796661377], [5.457796096801758, 3.514145851135254, 8.86015796661377], [5.457796096801758, 3.514145851135254, 8.61015796661377], [5.393091201782227, 3.514145851135254, 8.36867618560791], [5.609597682952881, 3.514145851135254, 8.24367618560791], [5.851078987121582, 3.514145851135254, 8.178971290588379], [6.092560291290283, 3.514145851135254, 8.114266395568848], [6.1572651863098145, 3.514145851135254, 7.8727850914001465], [6.1572651863098145, 3.514145851135254, 7.6227850914001465], [6.1572651863098145, 3.514145851135254, 7.3727850914001465], [6.1572651863098145, 3.514145851135254, 7.1227850914001465], [6.1572651863098145, 3.514145851135254, 6.8727850914001465], [6.221970081329346, 3.514145851135254, 6.631303787231445], [6.286674976348877, 3.514145851135254, 6.389822483062744]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 278, "episode_id": "279", "scene_id": "1pXnuDYAj8r", "instruction": "Exit bedroom into hallway. Turn right and then walk into doorway on the left. Stop in the middle of the bathroom next to bathroom sink. ", "start_position": [6.165140151977539, 3.514145851135254, 12.25], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [6.315340042114258, 3.514145851135254, 6.110680103302002], "goal_radius": 3.0, "reference_path": "[[6.165140151977539, 3.514145851135254, 12.25], [5.309470176696777, 3.514145851135254, 9.560669898986816], [5.345600128173828, 3.514145851135254, 8.048270225524902], [6.3804497718811035, 3.514145851135254, 7.993269920349121], [6.315340042114258, 3.514145851135254, 6.110680103302002]]", "geodesic_distance": 6.338172912597656, "gt_locations": "[[6.165140151977539, 3.514145851135254, 12.25], [6.100435256958008, 3.514145851135254, 12.00851821899414], [6.035730361938477, 3.514145851135254, 11.767036437988281], [5.971025466918945, 3.514145851135254, 11.525554656982422], [5.906320571899414, 3.514145851135254, 11.284072875976562], [5.841615676879883, 3.514145851135254, 11.042591094970703], [5.776910781860352, 3.514145851135254, 10.801109313964844], [5.71220588684082, 3.514145851135254, 10.559627532958984], [5.647500991821289, 3.514145851135254, 10.318145751953125], [5.582796096801758, 3.514145851135254, 10.076663970947266], [5.457796096801758, 3.514145851135254, 9.86015796661377], [5.457796096801758, 3.514145851135254, 9.61015796661377], [5.457796096801758, 3.514145851135254, 9.36015796661377], [5.457796096801758, 3.514145851135254, 9.11015796661377], [5.457796096801758, 3.514145851135254, 8.86015796661377], [5.457796096801758, 3.514145851135254, 8.61015796661377], [5.393091201782227, 3.514145851135254, 8.36867618560791], [5.609597682952881, 3.514145851135254, 8.24367618560791], [5.851078987121582, 3.514145851135254, 8.178971290588379], [6.092560291290283, 3.514145851135254, 8.114266395568848], [6.1572651863098145, 3.514145851135254, 7.8727850914001465], [6.1572651863098145, 3.514145851135254, 7.6227850914001465], [6.1572651863098145, 3.514145851135254, 7.3727850914001465], [6.1572651863098145, 3.514145851135254, 7.1227850914001465], [6.1572651863098145, 3.514145851135254, 6.8727850914001465], [6.221970081329346, 3.514145851135254, 6.631303787231445], [6.286674976348877, 3.514145851135254, 6.389822483062744]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 279, "episode_id": "280", "scene_id": "1pXnuDYAj8r", "instruction": "Exit the bedroom and turn hard right. Then enter the bathroom to your immediate left. ", "start_position": [6.165140151977539, 3.514145851135254, 12.25], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [6.315340042114258, 3.514145851135254, 6.110680103302002], "goal_radius": 3.0, "reference_path": "[[6.165140151977539, 3.514145851135254, 12.25], [5.309470176696777, 3.514145851135254, 9.560669898986816], [5.345600128173828, 3.514145851135254, 8.048270225524902], [6.3804497718811035, 3.514145851135254, 7.993269920349121], [6.315340042114258, 3.514145851135254, 6.110680103302002]]", "geodesic_distance": 6.338172912597656, "gt_locations": "[[6.165140151977539, 3.514145851135254, 12.25], [6.100435256958008, 3.514145851135254, 12.00851821899414], [6.035730361938477, 3.514145851135254, 11.767036437988281], [5.971025466918945, 3.514145851135254, 11.525554656982422], [5.906320571899414, 3.514145851135254, 11.284072875976562], [5.841615676879883, 3.514145851135254, 11.042591094970703], [5.776910781860352, 3.514145851135254, 10.801109313964844], [5.71220588684082, 3.514145851135254, 10.559627532958984], [5.647500991821289, 3.514145851135254, 10.318145751953125], [5.582796096801758, 3.514145851135254, 10.076663970947266], [5.457796096801758, 3.514145851135254, 9.86015796661377], [5.457796096801758, 3.514145851135254, 9.61015796661377], [5.457796096801758, 3.514145851135254, 9.36015796661377], [5.457796096801758, 3.514145851135254, 9.11015796661377], [5.457796096801758, 3.514145851135254, 8.86015796661377], [5.457796096801758, 3.514145851135254, 8.61015796661377], [5.393091201782227, 3.514145851135254, 8.36867618560791], [5.609597682952881, 3.514145851135254, 8.24367618560791], [5.851078987121582, 3.514145851135254, 8.178971290588379], [6.092560291290283, 3.514145851135254, 8.114266395568848], [6.1572651863098145, 3.514145851135254, 7.8727850914001465], [6.1572651863098145, 3.514145851135254, 7.6227850914001465], [6.1572651863098145, 3.514145851135254, 7.3727850914001465], [6.1572651863098145, 3.514145851135254, 7.1227850914001465], [6.1572651863098145, 3.514145851135254, 6.8727850914001465], [6.221970081329346, 3.514145851135254, 6.631303787231445], [6.286674976348877, 3.514145851135254, 6.389822483062744]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 280, "episode_id": "281", "scene_id": "e9zR4mvMWw7", "instruction": "As you exit the bathroom, continue straight down the hallway passing to the left of a stairwell leading downwards. Turn right just after the stairwell. ", "start_position": [10.929900169372559, 2.8866939544677734, 4.773210048675537], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [11.791799545288086, 2.8866939544677734, -3.0301899909973145], "goal_radius": 3.0, "reference_path": "[[10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518], [11.12339973449707, 2.8866939544677734, 1.0373200178146362], [10.916799545288086, 2.8866939544677734, -1.6240400075912476], [11.791799545288086, 2.8866939544677734, -3.0301899909973145]]", "geodesic_distance": 8.020650863647461, "gt_locations": "[[10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.929900169372559, 2.8866939544677734, 4.523210048675537], [10.929900169372559, 2.8866939544677734, 4.273210048675537], [10.929900169372559, 2.8866939544677734, 4.023210048675537], [10.929900169372559, 2.8866939544677734, 3.773210048675537], [10.929900169372559, 2.8866939544677734, 3.523210048675537], [10.929900169372559, 2.8866939544677734, 3.273210048675537], [10.929900169372559, 2.8866939544677734, 3.023210048675537], [10.929900169372559, 2.8866939544677734, 2.773210048675537], [10.865195274353027, 2.8866939544677734, 2.531728506088257], [10.929900169372559, 2.8866939544677734, 2.2902469635009766], [10.99460506439209, 2.8866939544677734, 2.0487654209136963], [11.059309959411621, 2.8866939544677734, 1.8072839975357056], [11.059309959411621, 2.8866939544677734, 1.5572839975357056], [11.059309959411621, 2.8866939544677734, 1.3072839975357056], [11.059309959411621, 2.8866939544677734, 1.0572839975357056], [11.059309959411621, 2.8866939544677734, 0.8072839975357056], [11.059309959411621, 2.8866939544677734, 0.5572839975357056], [11.059309959411621, 2.8866939544677734, 0.30728399753570557], [11.059309959411621, 2.8866939544677734, 0.057283997535705566], [11.059309959411621, 2.8866939544677734, -0.19271600246429443], [11.059309959411621, 2.8866939544677734, -0.44271600246429443], [11.059309959411621, 2.8866939544677734, -0.6927160024642944], [11.059309959411621, 2.8866939544677734, -0.9427160024642944], [10.99460506439209, 2.8866939544677734, -1.1841974258422852], [11.059309959411621, 2.8866939544677734, -1.4256788492202759], [11.124014854431152, 2.8866939544677734, -1.6671602725982666], [11.188719749450684, 2.8866939544677734, -1.9086416959762573], [11.253424644470215, 2.8866939544677734, -2.150123119354248], [11.318129539489746, 2.8866939544677734, -2.3916046619415283], [11.382834434509277, 2.8866939544677734, -2.6330862045288086], [11.507834434509277, 2.8866939544677734, -2.849592447280884]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 281, "episode_id": "282", "scene_id": "e9zR4mvMWw7", "instruction": "Walk away from the bathroom down the hallway. Stop in front of the double doors. ", "start_position": [10.929900169372559, 2.8866939544677734, 4.773210048675537], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [11.791799545288086, 2.8866939544677734, -3.0301899909973145], "goal_radius": 3.0, "reference_path": "[[10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518], [11.12339973449707, 2.8866939544677734, 1.0373200178146362], [10.916799545288086, 2.8866939544677734, -1.6240400075912476], [11.791799545288086, 2.8866939544677734, -3.0301899909973145]]", "geodesic_distance": 8.020650863647461, "gt_locations": "[[10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.929900169372559, 2.8866939544677734, 4.523210048675537], [10.929900169372559, 2.8866939544677734, 4.273210048675537], [10.929900169372559, 2.8866939544677734, 4.023210048675537], [10.929900169372559, 2.8866939544677734, 3.773210048675537], [10.929900169372559, 2.8866939544677734, 3.523210048675537], [10.929900169372559, 2.8866939544677734, 3.273210048675537], [10.929900169372559, 2.8866939544677734, 3.023210048675537], [10.929900169372559, 2.8866939544677734, 2.773210048675537], [10.865195274353027, 2.8866939544677734, 2.531728506088257], [10.929900169372559, 2.8866939544677734, 2.2902469635009766], [10.99460506439209, 2.8866939544677734, 2.0487654209136963], [11.059309959411621, 2.8866939544677734, 1.8072839975357056], [11.059309959411621, 2.8866939544677734, 1.5572839975357056], [11.059309959411621, 2.8866939544677734, 1.3072839975357056], [11.059309959411621, 2.8866939544677734, 1.0572839975357056], [11.059309959411621, 2.8866939544677734, 0.8072839975357056], [11.059309959411621, 2.8866939544677734, 0.5572839975357056], [11.059309959411621, 2.8866939544677734, 0.30728399753570557], [11.059309959411621, 2.8866939544677734, 0.057283997535705566], [11.059309959411621, 2.8866939544677734, -0.19271600246429443], [11.059309959411621, 2.8866939544677734, -0.44271600246429443], [11.059309959411621, 2.8866939544677734, -0.6927160024642944], [11.059309959411621, 2.8866939544677734, -0.9427160024642944], [10.99460506439209, 2.8866939544677734, -1.1841974258422852], [11.059309959411621, 2.8866939544677734, -1.4256788492202759], [11.124014854431152, 2.8866939544677734, -1.6671602725982666], [11.188719749450684, 2.8866939544677734, -1.9086416959762573], [11.253424644470215, 2.8866939544677734, -2.150123119354248], [11.318129539489746, 2.8866939544677734, -2.3916046619415283], [11.382834434509277, 2.8866939544677734, -2.6330862045288086], [11.507834434509277, 2.8866939544677734, -2.849592447280884]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 282, "episode_id": "283", "scene_id": "e9zR4mvMWw7", "instruction": "Walk straight down the hallway. turn right at end of stairwell. Stop before open bedroom with closet at your left. ", "start_position": [10.929900169372559, 2.8866939544677734, 4.773210048675537], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [11.791799545288086, 2.8866939544677734, -3.0301899909973145], "goal_radius": 3.0, "reference_path": "[[10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518], [11.12339973449707, 2.8866939544677734, 1.0373200178146362], [10.916799545288086, 2.8866939544677734, -1.6240400075912476], [11.791799545288086, 2.8866939544677734, -3.0301899909973145]]", "geodesic_distance": 8.020650863647461, "gt_locations": "[[10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.929900169372559, 2.8866939544677734, 4.523210048675537], [10.929900169372559, 2.8866939544677734, 4.273210048675537], [10.929900169372559, 2.8866939544677734, 4.023210048675537], [10.929900169372559, 2.8866939544677734, 3.773210048675537], [10.929900169372559, 2.8866939544677734, 3.523210048675537], [10.929900169372559, 2.8866939544677734, 3.273210048675537], [10.929900169372559, 2.8866939544677734, 3.023210048675537], [10.929900169372559, 2.8866939544677734, 2.773210048675537], [10.865195274353027, 2.8866939544677734, 2.531728506088257], [10.929900169372559, 2.8866939544677734, 2.2902469635009766], [10.99460506439209, 2.8866939544677734, 2.0487654209136963], [11.059309959411621, 2.8866939544677734, 1.8072839975357056], [11.059309959411621, 2.8866939544677734, 1.5572839975357056], [11.059309959411621, 2.8866939544677734, 1.3072839975357056], [11.059309959411621, 2.8866939544677734, 1.0572839975357056], [11.059309959411621, 2.8866939544677734, 0.8072839975357056], [11.059309959411621, 2.8866939544677734, 0.5572839975357056], [11.059309959411621, 2.8866939544677734, 0.30728399753570557], [11.059309959411621, 2.8866939544677734, 0.057283997535705566], [11.059309959411621, 2.8866939544677734, -0.19271600246429443], [11.059309959411621, 2.8866939544677734, -0.44271600246429443], [11.059309959411621, 2.8866939544677734, -0.6927160024642944], [11.059309959411621, 2.8866939544677734, -0.9427160024642944], [10.99460506439209, 2.8866939544677734, -1.1841974258422852], [11.059309959411621, 2.8866939544677734, -1.4256788492202759], [11.124014854431152, 2.8866939544677734, -1.6671602725982666], [11.188719749450684, 2.8866939544677734, -1.9086416959762573], [11.253424644470215, 2.8866939544677734, -2.150123119354248], [11.318129539489746, 2.8866939544677734, -2.3916046619415283], [11.382834434509277, 2.8866939544677734, -2.6330862045288086], [11.507834434509277, 2.8866939544677734, -2.849592447280884]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 283, "episode_id": "284", "scene_id": "SN83YJsR3w2", "instruction": "Leave the bathroom, make a slight left, walk through the bedroom, leave the bedroom, and wait. ", "start_position": [3.936959981918335, 3.8914499282836914, 0.9624530076980591], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-1.2253899574279785, 3.8914499282836914, 8.097000122070312], "goal_radius": 3.0, "reference_path": "[[3.936959981918335, 3.8914499282836914, 0.9624530076980591], [2.820889949798584, 3.8914499282836914, 0.8101739883422852], [1.8227100372314453, 3.8914499282836914, 1.5750700235366821], [1.3180400133132935, 3.8914499282836914, 2.442270040512085], [-0.3575499951839447, 3.8914499282836914, 5.370870113372803], [-1.3205646276474, 3.8914499282836914, 6.895922660827637], [-1.2253899574279785, 3.8914499282836914, 8.097000122070312]]", "geodesic_distance": 9.58128833770752, "gt_locations": "[[3.936959981918335, 3.8914499282836914, 0.9624530076980591], [3.686959981918335, 3.8914499282836914, 0.9624530076980591], [3.4454784393310547, 3.8914499282836914, 0.8977482914924622], [3.2039968967437744, 3.8914499282836914, 0.8330435752868652], [2.962515354156494, 3.8914499282836914, 0.8977483510971069], [2.7377140522003174, 3.8914499282836914, 1.014453649520874], [2.521207809448242, 3.8914499282836914, 1.139453649520874], [2.304701328277588, 3.8914499282836914, 1.264453649520874], [2.0881948471069336, 3.8914499282836914, 1.389453649520874], [1.9114181995391846, 3.8914499282836914, 1.5662304162979126], [1.7864181995391846, 3.8914499282836914, 1.7827367782592773], [1.6614181995391846, 3.8914499282836914, 1.999243140220642], [1.5364181995391846, 3.8914499282836914, 2.215749502182007], [1.4114181995391846, 3.8914499282836914, 2.432255744934082], [1.2864181995391846, 3.8914499282836914, 2.6487619876861572], [1.1614181995391846, 3.8914499282836914, 2.8652682304382324], [1.0364181995391846, 3.8914499282836914, 3.0817744731903076], [0.9114181995391846, 3.8914499282836914, 3.298280715942383], [0.7864181995391846, 3.8914499282836914, 3.514786958694458], [0.6614181995391846, 3.8914499282836914, 3.731293201446533], [0.5364181995391846, 3.8914499282836914, 3.9477994441986084], [0.41141819953918457, 3.8914499282836914, 4.164305686950684], [0.28641819953918457, 3.8914499282836914, 4.380812168121338], [0.16141821444034576, 3.8914499282836914, 4.597318649291992], [0.03641822934150696, 3.8914499282836914, 4.8138251304626465], [-0.08858175575733185, 3.8914499282836914, 5.030331611633301], [-0.21358174085617065, 3.8914499282836914, 5.246838092803955], [-0.33858174085617065, 3.8914499282836914, 5.463344573974609], [-0.46358174085617065, 3.8914499282836914, 5.679851055145264], [-0.5885817408561707, 3.8914499282836914, 5.896357536315918], [-0.7135817408561707, 3.8914499282836914, 6.112864017486572], [-0.8385817408561707, 3.8914499282836914, 6.329370498657227], [-1.0153584480285645, 3.8914499282836914, 6.506147384643555], [-1.1921350955963135, 3.8914499282836914, 6.682924270629883], [-1.3212820291519165, 3.8914499282836914, 6.89735746383667], [-1.321282148361206, 3.8914499282836914, 7.14735746383667], [-1.321282148361206, 3.8914499282836914, 7.39735746383667], [-1.321282148361206, 3.8914499282836914, 7.64735746383667]]", "gt_actions": "[3, 3, 1, 3, 1, 1, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 1, 1, 1, 0]"}
{"id": 284, "episode_id": "285", "scene_id": "SN83YJsR3w2", "instruction": "exit bedroom to main room. Turn slight left at fireplace and walk across room through double doors. stop on gray rug next to dining room table. ", "start_position": [3.936959981918335, 3.8914499282836914, 0.9624530076980591], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-1.2253899574279785, 3.8914499282836914, 8.097000122070312], "goal_radius": 3.0, "reference_path": "[[3.936959981918335, 3.8914499282836914, 0.9624530076980591], [2.820889949798584, 3.8914499282836914, 0.8101739883422852], [1.8227100372314453, 3.8914499282836914, 1.5750700235366821], [1.3180400133132935, 3.8914499282836914, 2.442270040512085], [-0.3575499951839447, 3.8914499282836914, 5.370870113372803], [-1.3205646276474, 3.8914499282836914, 6.895922660827637], [-1.2253899574279785, 3.8914499282836914, 8.097000122070312]]", "geodesic_distance": 9.58128833770752, "gt_locations": "[[3.936959981918335, 3.8914499282836914, 0.9624530076980591], [3.686959981918335, 3.8914499282836914, 0.9624530076980591], [3.4454784393310547, 3.8914499282836914, 0.8977482914924622], [3.2039968967437744, 3.8914499282836914, 0.8330435752868652], [2.962515354156494, 3.8914499282836914, 0.8977483510971069], [2.7377140522003174, 3.8914499282836914, 1.014453649520874], [2.521207809448242, 3.8914499282836914, 1.139453649520874], [2.304701328277588, 3.8914499282836914, 1.264453649520874], [2.0881948471069336, 3.8914499282836914, 1.389453649520874], [1.9114181995391846, 3.8914499282836914, 1.5662304162979126], [1.7864181995391846, 3.8914499282836914, 1.7827367782592773], [1.6614181995391846, 3.8914499282836914, 1.999243140220642], [1.5364181995391846, 3.8914499282836914, 2.215749502182007], [1.4114181995391846, 3.8914499282836914, 2.432255744934082], [1.2864181995391846, 3.8914499282836914, 2.6487619876861572], [1.1614181995391846, 3.8914499282836914, 2.8652682304382324], [1.0364181995391846, 3.8914499282836914, 3.0817744731903076], [0.9114181995391846, 3.8914499282836914, 3.298280715942383], [0.7864181995391846, 3.8914499282836914, 3.514786958694458], [0.6614181995391846, 3.8914499282836914, 3.731293201446533], [0.5364181995391846, 3.8914499282836914, 3.9477994441986084], [0.41141819953918457, 3.8914499282836914, 4.164305686950684], [0.28641819953918457, 3.8914499282836914, 4.380812168121338], [0.16141821444034576, 3.8914499282836914, 4.597318649291992], [0.03641822934150696, 3.8914499282836914, 4.8138251304626465], [-0.08858175575733185, 3.8914499282836914, 5.030331611633301], [-0.21358174085617065, 3.8914499282836914, 5.246838092803955], [-0.33858174085617065, 3.8914499282836914, 5.463344573974609], [-0.46358174085617065, 3.8914499282836914, 5.679851055145264], [-0.5885817408561707, 3.8914499282836914, 5.896357536315918], [-0.7135817408561707, 3.8914499282836914, 6.112864017486572], [-0.8385817408561707, 3.8914499282836914, 6.329370498657227], [-1.0153584480285645, 3.8914499282836914, 6.506147384643555], [-1.1921350955963135, 3.8914499282836914, 6.682924270629883], [-1.3212820291519165, 3.8914499282836914, 6.89735746383667], [-1.321282148361206, 3.8914499282836914, 7.14735746383667], [-1.321282148361206, 3.8914499282836914, 7.39735746383667], [-1.321282148361206, 3.8914499282836914, 7.64735746383667]]", "gt_actions": "[3, 3, 1, 3, 1, 1, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 1, 1, 1, 0]"}
{"id": 285, "episode_id": "286", "scene_id": "SN83YJsR3w2", "instruction": "Go into living room and head toward the french doors. ", "start_position": [3.936959981918335, 3.8914499282836914, 0.9624530076980591], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-1.2253899574279785, 3.8914499282836914, 8.097000122070312], "goal_radius": 3.0, "reference_path": "[[3.936959981918335, 3.8914499282836914, 0.9624530076980591], [2.820889949798584, 3.8914499282836914, 0.8101739883422852], [1.8227100372314453, 3.8914499282836914, 1.5750700235366821], [1.3180400133132935, 3.8914499282836914, 2.442270040512085], [-0.3575499951839447, 3.8914499282836914, 5.370870113372803], [-1.3205646276474, 3.8914499282836914, 6.895922660827637], [-1.2253899574279785, 3.8914499282836914, 8.097000122070312]]", "geodesic_distance": 9.58128833770752, "gt_locations": "[[3.936959981918335, 3.8914499282836914, 0.9624530076980591], [3.686959981918335, 3.8914499282836914, 0.9624530076980591], [3.4454784393310547, 3.8914499282836914, 0.8977482914924622], [3.2039968967437744, 3.8914499282836914, 0.8330435752868652], [2.962515354156494, 3.8914499282836914, 0.8977483510971069], [2.7377140522003174, 3.8914499282836914, 1.014453649520874], [2.521207809448242, 3.8914499282836914, 1.139453649520874], [2.304701328277588, 3.8914499282836914, 1.264453649520874], [2.0881948471069336, 3.8914499282836914, 1.389453649520874], [1.9114181995391846, 3.8914499282836914, 1.5662304162979126], [1.7864181995391846, 3.8914499282836914, 1.7827367782592773], [1.6614181995391846, 3.8914499282836914, 1.999243140220642], [1.5364181995391846, 3.8914499282836914, 2.215749502182007], [1.4114181995391846, 3.8914499282836914, 2.432255744934082], [1.2864181995391846, 3.8914499282836914, 2.6487619876861572], [1.1614181995391846, 3.8914499282836914, 2.8652682304382324], [1.0364181995391846, 3.8914499282836914, 3.0817744731903076], [0.9114181995391846, 3.8914499282836914, 3.298280715942383], [0.7864181995391846, 3.8914499282836914, 3.514786958694458], [0.6614181995391846, 3.8914499282836914, 3.731293201446533], [0.5364181995391846, 3.8914499282836914, 3.9477994441986084], [0.41141819953918457, 3.8914499282836914, 4.164305686950684], [0.28641819953918457, 3.8914499282836914, 4.380812168121338], [0.16141821444034576, 3.8914499282836914, 4.597318649291992], [0.03641822934150696, 3.8914499282836914, 4.8138251304626465], [-0.08858175575733185, 3.8914499282836914, 5.030331611633301], [-0.21358174085617065, 3.8914499282836914, 5.246838092803955], [-0.33858174085617065, 3.8914499282836914, 5.463344573974609], [-0.46358174085617065, 3.8914499282836914, 5.679851055145264], [-0.5885817408561707, 3.8914499282836914, 5.896357536315918], [-0.7135817408561707, 3.8914499282836914, 6.112864017486572], [-0.8385817408561707, 3.8914499282836914, 6.329370498657227], [-1.0153584480285645, 3.8914499282836914, 6.506147384643555], [-1.1921350955963135, 3.8914499282836914, 6.682924270629883], [-1.3212820291519165, 3.8914499282836914, 6.89735746383667], [-1.321282148361206, 3.8914499282836914, 7.14735746383667], [-1.321282148361206, 3.8914499282836914, 7.39735746383667], [-1.321282148361206, 3.8914499282836914, 7.64735746383667]]", "gt_actions": "[3, 3, 1, 3, 1, 1, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 1, 1, 1, 0]"}
{"id": 286, "episode_id": "287", "scene_id": "XcA2TqTSSAj", "instruction": "Turn around, go through the kitchen and up the stairs to the right. When at the top of the steps, turn to the left and go down the hallway. Top in front of the painting on the right wall. ", "start_position": [2.921799898147583, 2.0733325481414795, 4.39247989654541], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-0.2393222451210022, 3.254446506500244, -2.9477181434631348], "goal_radius": 3.0, "reference_path": "[[2.921799898147583, 2.0733325481414795, 4.39247989654541], [1.9565399885177612, 2.136237144470215, 3.0863399505615234], [1.1974400281906128, 2.1298561096191406, 0.8599680066108704], [0.6933090090751648, 2.054446220397949, -0.7633140087127686], [0.7188810110092163, 2.7294578552246094, -1.7441200017929077], [0.7420290112495422, 3.254446506500244, -2.928730010986328], [-0.2393222451210022, 3.254446506500244, -2.9477181434631348]]", "geodesic_distance": 9.143217086791992, "gt_locations": "[[2.921799898147583, 2.0733325481414795, 4.39247989654541], [2.745023250579834, 2.07759690284729, 4.215703010559082], [2.620023250579834, 2.091248035430908, 3.999196767807007], [2.495023250579834, 2.1048989295959473, 3.7826905250549316], [2.370023250579834, 2.1185498237609863, 3.5661842823028564], [2.193246603012085, 2.122814178466797, 3.3894076347351074], [2.068246603012085, 2.136465072631836, 3.1729013919830322], [1.943246603012085, 2.150115966796875, 2.956395149230957], [1.8785418272018433, 2.1409530639648438, 2.7149136066436768], [1.8138370513916016, 2.115706443786621, 2.4734320640563965], [1.7491322755813599, 2.118215560913086, 2.231950521469116], [1.6844274997711182, 2.1270649433135986, 1.9904690980911255], [1.6197227239608765, 2.1318039894104004, 1.7489876747131348], [1.4947227239608765, 2.1334056854248047, 1.53248131275177], [1.3697227239608765, 2.124821901321411, 1.3159749507904053], [1.3050179481506348, 2.1267871856689453, 1.0744935274124146], [1.240313172340393, 2.1357831954956055, 0.8330121040344238], [1.1756083965301514, 2.1332931518554688, 0.5915306806564331], [1.1109036207199097, 2.112682342529297, 0.35004922747612], [1.046198844909668, 2.090345859527588, 0.10856777429580688], [0.9814940690994263, 2.068009376525879, -0.13291367888450623], [0.8564940690994263, 2.054446220397949, -0.3494200110435486], [0.7917892932891846, 2.054446220397949, -0.5909014940261841], [0.7917892932891846, 2.054446220397949, -0.8409014940261841], [0.7917892932891846, 2.196469306945801, -1.090901494026184], [0.7917892932891846, 2.4472663402557373, -1.340901494026184], [0.7917892932891846, 2.594390630722046, -1.590901494026184], [0.7917892932891846, 2.7979302406311035, -1.840901494026184], [0.7917892932891846, 2.96295166015625, -2.0909013748168945], [0.7917892932891846, 3.1229517459869385, -2.3409013748168945], [0.7917892932891846, 3.185234308242798, -2.5909013748168945], [0.6667892932891846, 3.254446506500244, -2.8074076175689697], [0.5417892932891846, 3.254446506500244, -3.023913860321045], [0.47708451747894287, 3.254446506500244, -3.265395402908325], [0.2605781555175781, 3.254446506500244, -3.390395402908325], [0.04407183825969696, 3.254446506500244, -3.265395402908325]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 2, 2, 1, 2, 2, 2, 2, 1, 0]"}
{"id": 287, "episode_id": "288", "scene_id": "XcA2TqTSSAj", "instruction": "Walk straight passing the kitchen sinks and the dining table towards the stairs. Walk up the stairs, and turn left. Stop outside the glass door. ", "start_position": [2.921799898147583, 2.0733325481414795, 4.39247989654541], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-0.2393222451210022, 3.254446506500244, -2.9477181434631348], "goal_radius": 3.0, "reference_path": "[[2.921799898147583, 2.0733325481414795, 4.39247989654541], [1.9565399885177612, 2.136237144470215, 3.0863399505615234], [1.1974400281906128, 2.1298561096191406, 0.8599680066108704], [0.6933090090751648, 2.054446220397949, -0.7633140087127686], [0.7188810110092163, 2.7294578552246094, -1.7441200017929077], [0.7420290112495422, 3.254446506500244, -2.928730010986328], [-0.2393222451210022, 3.254446506500244, -2.9477181434631348]]", "geodesic_distance": 9.143217086791992, "gt_locations": "[[2.921799898147583, 2.0733325481414795, 4.39247989654541], [2.745023250579834, 2.07759690284729, 4.215703010559082], [2.620023250579834, 2.091248035430908, 3.999196767807007], [2.495023250579834, 2.1048989295959473, 3.7826905250549316], [2.370023250579834, 2.1185498237609863, 3.5661842823028564], [2.193246603012085, 2.122814178466797, 3.3894076347351074], [2.068246603012085, 2.136465072631836, 3.1729013919830322], [1.943246603012085, 2.150115966796875, 2.956395149230957], [1.8785418272018433, 2.1409530639648438, 2.7149136066436768], [1.8138370513916016, 2.115706443786621, 2.4734320640563965], [1.7491322755813599, 2.118215560913086, 2.231950521469116], [1.6844274997711182, 2.1270649433135986, 1.9904690980911255], [1.6197227239608765, 2.1318039894104004, 1.7489876747131348], [1.4947227239608765, 2.1334056854248047, 1.53248131275177], [1.3697227239608765, 2.124821901321411, 1.3159749507904053], [1.3050179481506348, 2.1267871856689453, 1.0744935274124146], [1.240313172340393, 2.1357831954956055, 0.8330121040344238], [1.1756083965301514, 2.1332931518554688, 0.5915306806564331], [1.1109036207199097, 2.112682342529297, 0.35004922747612], [1.046198844909668, 2.090345859527588, 0.10856777429580688], [0.9814940690994263, 2.068009376525879, -0.13291367888450623], [0.8564940690994263, 2.054446220397949, -0.3494200110435486], [0.7917892932891846, 2.054446220397949, -0.5909014940261841], [0.7917892932891846, 2.054446220397949, -0.8409014940261841], [0.7917892932891846, 2.196469306945801, -1.090901494026184], [0.7917892932891846, 2.4472663402557373, -1.340901494026184], [0.7917892932891846, 2.594390630722046, -1.590901494026184], [0.7917892932891846, 2.7979302406311035, -1.840901494026184], [0.7917892932891846, 2.96295166015625, -2.0909013748168945], [0.7917892932891846, 3.1229517459869385, -2.3409013748168945], [0.7917892932891846, 3.185234308242798, -2.5909013748168945], [0.6667892932891846, 3.254446506500244, -2.8074076175689697], [0.5417892932891846, 3.254446506500244, -3.023913860321045], [0.47708451747894287, 3.254446506500244, -3.265395402908325], [0.2605781555175781, 3.254446506500244, -3.390395402908325], [0.04407183825969696, 3.254446506500244, -3.265395402908325]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 2, 2, 1, 2, 2, 2, 2, 1, 0]"}
{"id": 288, "episode_id": "289", "scene_id": "XcA2TqTSSAj", "instruction": "Head inside past the sink and up the stairs, turn left and wait near the wall painting. ", "start_position": [2.921799898147583, 2.0733325481414795, 4.39247989654541], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-0.2393222451210022, 3.254446506500244, -2.9477181434631348], "goal_radius": 3.0, "reference_path": "[[2.921799898147583, 2.0733325481414795, 4.39247989654541], [1.9565399885177612, 2.136237144470215, 3.0863399505615234], [1.1974400281906128, 2.1298561096191406, 0.8599680066108704], [0.6933090090751648, 2.054446220397949, -0.7633140087127686], [0.7188810110092163, 2.7294578552246094, -1.7441200017929077], [0.7420290112495422, 3.254446506500244, -2.928730010986328], [-0.2393222451210022, 3.254446506500244, -2.9477181434631348]]", "geodesic_distance": 9.143217086791992, "gt_locations": "[[2.921799898147583, 2.0733325481414795, 4.39247989654541], [2.745023250579834, 2.07759690284729, 4.215703010559082], [2.620023250579834, 2.091248035430908, 3.999196767807007], [2.495023250579834, 2.1048989295959473, 3.7826905250549316], [2.370023250579834, 2.1185498237609863, 3.5661842823028564], [2.193246603012085, 2.122814178466797, 3.3894076347351074], [2.068246603012085, 2.136465072631836, 3.1729013919830322], [1.943246603012085, 2.150115966796875, 2.956395149230957], [1.8785418272018433, 2.1409530639648438, 2.7149136066436768], [1.8138370513916016, 2.115706443786621, 2.4734320640563965], [1.7491322755813599, 2.118215560913086, 2.231950521469116], [1.6844274997711182, 2.1270649433135986, 1.9904690980911255], [1.6197227239608765, 2.1318039894104004, 1.7489876747131348], [1.4947227239608765, 2.1334056854248047, 1.53248131275177], [1.3697227239608765, 2.124821901321411, 1.3159749507904053], [1.3050179481506348, 2.1267871856689453, 1.0744935274124146], [1.240313172340393, 2.1357831954956055, 0.8330121040344238], [1.1756083965301514, 2.1332931518554688, 0.5915306806564331], [1.1109036207199097, 2.112682342529297, 0.35004922747612], [1.046198844909668, 2.090345859527588, 0.10856777429580688], [0.9814940690994263, 2.068009376525879, -0.13291367888450623], [0.8564940690994263, 2.054446220397949, -0.3494200110435486], [0.7917892932891846, 2.054446220397949, -0.5909014940261841], [0.7917892932891846, 2.054446220397949, -0.8409014940261841], [0.7917892932891846, 2.196469306945801, -1.090901494026184], [0.7917892932891846, 2.4472663402557373, -1.340901494026184], [0.7917892932891846, 2.594390630722046, -1.590901494026184], [0.7917892932891846, 2.7979302406311035, -1.840901494026184], [0.7917892932891846, 2.96295166015625, -2.0909013748168945], [0.7917892932891846, 3.1229517459869385, -2.3409013748168945], [0.7917892932891846, 3.185234308242798, -2.5909013748168945], [0.6667892932891846, 3.254446506500244, -2.8074076175689697], [0.5417892932891846, 3.254446506500244, -3.023913860321045], [0.47708451747894287, 3.254446506500244, -3.265395402908325], [0.2605781555175781, 3.254446506500244, -3.390395402908325], [0.04407183825969696, 3.254446506500244, -3.265395402908325]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 2, 2, 1, 2, 2, 2, 2, 1, 0]"}
{"id": 289, "episode_id": "290", "scene_id": "mJXqzFtmKg4", "instruction": "Enter the room go out the door on the right turn left and wait right at the living room entrance. ", "start_position": [4.700399875640869, 0.003321051597595215, -17.988300323486328], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [0.6850709915161133, 0.003321051597595215, -13.719799995422363], "goal_radius": 3.0, "reference_path": "[[4.700399875640869, 0.003321051597595215, -17.988300323486328], [4.696969985961914, 0.003321051597595215, -16.903499603271484], [3.191540002822876, 0.003321051597595215, -15.350799560546875], [2.2924599647521973, 0.003321051597595215, -14.878999710083008], [0.6850709915161133, 0.003321051597595215, -13.719799995422363]]", "geodesic_distance": 6.226594924926758, "gt_locations": "[[4.700399875640869, 0.003321051597595215, -17.988300323486328], [4.700399875640869, 0.003321051597595215, -17.738300323486328], [4.700399875640869, 0.003321051597595215, -17.488300323486328], [4.700399875640869, 0.003321051597595215, -17.238300323486328], [4.635694980621338, 0.003321051597595215, -16.99681854248047], [4.570990085601807, 0.003321051597595215, -16.75533676147461], [4.506285190582275, 0.003321051597595215, -16.51385498046875], [4.381285190582275, 0.003321051597595215, -16.297348022460938], [4.189095497131348, 0.003321051597595215, -16.123714447021484], [3.9725890159606934, 0.003321051597595215, -15.998714447021484], [3.7958123683929443, 0.003321051597595215, -15.821937561035156], [3.6190357208251953, 0.003321051597595215, -15.645160675048828], [3.40252947807312, 0.003321051597595215, -15.520160675048828], [3.186023235321045, 0.003321051597595215, -15.395160675048828], [2.9695169925689697, 0.003321051597595215, -15.270160675048828], [2.7530107498168945, 0.003321051597595215, -15.145160675048828], [2.5365045070648193, 0.003321051597595215, -15.020160675048828], [2.3597278594970703, 0.003321051597595215, -14.8433837890625], [2.1829512119293213, 0.003321051597595215, -14.666606903076172], [2.0061745643615723, 0.003321051597595215, -14.489830017089844], [1.7896682024002075, 0.003321051597595215, -14.364830017089844], [1.5731618404388428, 0.003321051597595215, -14.239830017089844], [1.331680417060852, 0.003321051597595215, -14.123573303222656], [1.1151740550994873, 0.003321051597595215, -13.998573303222656], [0.8986676931381226, 0.003321051597595215, -13.873573303222656]]", "gt_actions": "[1, 1, 1, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 290, "episode_id": "291", "scene_id": "mJXqzFtmKg4", "instruction": "Walk forward in the room, make a right out the door, and then a sharp left turn followed by another right turn, stopping at the doorway. ", "start_position": [4.700399875640869, 0.003321051597595215, -17.988300323486328], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [0.6850709915161133, 0.003321051597595215, -13.719799995422363], "goal_radius": 3.0, "reference_path": "[[4.700399875640869, 0.003321051597595215, -17.988300323486328], [4.696969985961914, 0.003321051597595215, -16.903499603271484], [3.191540002822876, 0.003321051597595215, -15.350799560546875], [2.2924599647521973, 0.003321051597595215, -14.878999710083008], [0.6850709915161133, 0.003321051597595215, -13.719799995422363]]", "geodesic_distance": 6.226594924926758, "gt_locations": "[[4.700399875640869, 0.003321051597595215, -17.988300323486328], [4.700399875640869, 0.003321051597595215, -17.738300323486328], [4.700399875640869, 0.003321051597595215, -17.488300323486328], [4.700399875640869, 0.003321051597595215, -17.238300323486328], [4.635694980621338, 0.003321051597595215, -16.99681854248047], [4.570990085601807, 0.003321051597595215, -16.75533676147461], [4.506285190582275, 0.003321051597595215, -16.51385498046875], [4.381285190582275, 0.003321051597595215, -16.297348022460938], [4.189095497131348, 0.003321051597595215, -16.123714447021484], [3.9725890159606934, 0.003321051597595215, -15.998714447021484], [3.7958123683929443, 0.003321051597595215, -15.821937561035156], [3.6190357208251953, 0.003321051597595215, -15.645160675048828], [3.40252947807312, 0.003321051597595215, -15.520160675048828], [3.186023235321045, 0.003321051597595215, -15.395160675048828], [2.9695169925689697, 0.003321051597595215, -15.270160675048828], [2.7530107498168945, 0.003321051597595215, -15.145160675048828], [2.5365045070648193, 0.003321051597595215, -15.020160675048828], [2.3597278594970703, 0.003321051597595215, -14.8433837890625], [2.1829512119293213, 0.003321051597595215, -14.666606903076172], [2.0061745643615723, 0.003321051597595215, -14.489830017089844], [1.7896682024002075, 0.003321051597595215, -14.364830017089844], [1.5731618404388428, 0.003321051597595215, -14.239830017089844], [1.331680417060852, 0.003321051597595215, -14.123573303222656], [1.1151740550994873, 0.003321051597595215, -13.998573303222656], [0.8986676931381226, 0.003321051597595215, -13.873573303222656]]", "gt_actions": "[1, 1, 1, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 291, "episode_id": "292", "scene_id": "mJXqzFtmKg4", "instruction": "Enter the bedroom and continue to the double doors on the right. Take the way to the left and wait at the first arch. ", "start_position": [4.700399875640869, 0.003321051597595215, -17.988300323486328], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [0.6850709915161133, 0.003321051597595215, -13.719799995422363], "goal_radius": 3.0, "reference_path": "[[4.700399875640869, 0.003321051597595215, -17.988300323486328], [4.696969985961914, 0.003321051597595215, -16.903499603271484], [3.191540002822876, 0.003321051597595215, -15.350799560546875], [2.2924599647521973, 0.003321051597595215, -14.878999710083008], [0.6850709915161133, 0.003321051597595215, -13.719799995422363]]", "geodesic_distance": 6.226594924926758, "gt_locations": "[[4.700399875640869, 0.003321051597595215, -17.988300323486328], [4.700399875640869, 0.003321051597595215, -17.738300323486328], [4.700399875640869, 0.003321051597595215, -17.488300323486328], [4.700399875640869, 0.003321051597595215, -17.238300323486328], [4.635694980621338, 0.003321051597595215, -16.99681854248047], [4.570990085601807, 0.003321051597595215, -16.75533676147461], [4.506285190582275, 0.003321051597595215, -16.51385498046875], [4.381285190582275, 0.003321051597595215, -16.297348022460938], [4.189095497131348, 0.003321051597595215, -16.123714447021484], [3.9725890159606934, 0.003321051597595215, -15.998714447021484], [3.7958123683929443, 0.003321051597595215, -15.821937561035156], [3.6190357208251953, 0.003321051597595215, -15.645160675048828], [3.40252947807312, 0.003321051597595215, -15.520160675048828], [3.186023235321045, 0.003321051597595215, -15.395160675048828], [2.9695169925689697, 0.003321051597595215, -15.270160675048828], [2.7530107498168945, 0.003321051597595215, -15.145160675048828], [2.5365045070648193, 0.003321051597595215, -15.020160675048828], [2.3597278594970703, 0.003321051597595215, -14.8433837890625], [2.1829512119293213, 0.003321051597595215, -14.666606903076172], [2.0061745643615723, 0.003321051597595215, -14.489830017089844], [1.7896682024002075, 0.003321051597595215, -14.364830017089844], [1.5731618404388428, 0.003321051597595215, -14.239830017089844], [1.331680417060852, 0.003321051597595215, -14.123573303222656], [1.1151740550994873, 0.003321051597595215, -13.998573303222656], [0.8986676931381226, 0.003321051597595215, -13.873573303222656]]", "gt_actions": "[1, 1, 1, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 292, "episode_id": "293", "scene_id": "i5noydFURQK", "instruction": "Exit bathroom to bedroom, walk across bedroom slight left to hallway, turn left at hallway into adjacent hallway, turn right into first door, stop in front of bed. ", "start_position": [-1.6153700351715088, 0.18682312965393066, 2.982759952545166], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [4.407879829406738, 0.14283694326877594, 3.1513900756835938], "goal_radius": 3.0, "reference_path": "[[-1.6153700351715088, 0.18682312965393066, 2.982759952545166], [-0.1764950007200241, 0.18682312965393066, 5.465410232543945], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [3.436880111694336, 0.18682312965393066, 4.293960094451904], [4.407879829406738, 0.14283694326877594, 3.1513900756835938]]", "geodesic_distance": 10.07935905456543, "gt_locations": "[[-1.6153700351715088, 0.18682312965393066, 2.982759952545166], [-1.4903700351715088, 0.18682312965393066, 3.1992664337158203], [-1.3653700351715088, 0.18682312965393066, 3.4157729148864746], [-1.300665259361267, 0.18682312965393066, 3.657254219055176], [-1.0841588973999023, 0.18682312965393066, 3.8316969871520996], [-1.0194541215896606, 0.18682312965393066, 4.073178291320801], [-0.8944541215896606, 0.18682312965393066, 4.289684772491455], [-0.7694541215896606, 0.18682312965393066, 4.506191253662109], [-0.6444541215896606, 0.18682312965393066, 4.722697734832764], [-0.46767741441726685, 0.18682312965393066, 4.899474620819092], [-0.34267741441726685, 0.18682312965393066, 5.115981101989746], [-0.21767741441726685, 0.18682312965393066, 5.3324875831604], [-0.09267742186784744, 0.18682312965393066, 5.548994064331055], [0.03232257068157196, 0.18682312965393066, 5.765500545501709], [0.15732255578041077, 0.18682312965393066, 5.982007026672363], [0.28232255578041077, 0.18682312965393066, 6.198513507843018], [0.5238040089607239, 0.18682312965393066, 6.3316969871521], [0.6488040089607239, 0.18682312965393066, 6.548203468322754], [0.7738040089607239, 0.18682312965393066, 6.764709949493408], [0.9505806565284729, 0.18682312965393066, 6.941486835479736], [1.2005807161331177, 0.18682312965393066, 6.941486835479736], [1.4420621395111084, 0.18682312965393066, 7.006191730499268], [1.6920621395111084, 0.18682312965393066, 7.006191730499268], [1.9420621395111084, 0.18682312965393066, 7.006191730499268], [2.1920621395111084, 0.18682312965393066, 7.006191730499268], [2.2567670345306396, 0.18682312965393066, 6.764710426330566], [2.321471929550171, 0.18682312965393066, 6.523229122161865], [2.386176824569702, 0.18682312965393066, 6.281747817993164], [2.4508817195892334, 0.18682312965393066, 6.040266513824463], [2.5155866146087646, 0.18682312965393066, 5.798785209655762], [2.6405866146087646, 0.18682312965393066, 5.582278728485107], [2.7655866146087646, 0.18682312965393066, 5.365772247314453], [2.8905866146087646, 0.18682312965393066, 5.149265766143799], [2.955291509628296, 0.18682312965393066, 4.907784461975098], [3.019996404647827, 0.18682312965393066, 4.6663031578063965], [3.196773052215576, 0.18682312965393066, 4.489526271820068], [3.373549699783325, 0.18682312965393066, 4.31274938583374], [3.550326347351074, 0.18682312965393066, 4.135972499847412], [3.7271029949188232, 0.18682312965393066, 3.959195852279663], [3.9038796424865723, 0.18682312965393066, 3.782419204711914], [4.0806565284729, 0.18682312965393066, 3.605642557144165], [4.2056565284729, 0.16050666570663452, 3.38913631439209]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 3, 1, 2, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 293, "episode_id": "294", "scene_id": "i5noydFURQK", "instruction": "Exit the bathroom pass the bed and go out the door on your left. Turn left and then go into the second door on your right and wait by the bed. ", "start_position": [-1.6153700351715088, 0.18682312965393066, 2.982759952545166], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [4.407879829406738, 0.14283694326877594, 3.1513900756835938], "goal_radius": 3.0, "reference_path": "[[-1.6153700351715088, 0.18682312965393066, 2.982759952545166], [-0.1764950007200241, 0.18682312965393066, 5.465410232543945], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [3.436880111694336, 0.18682312965393066, 4.293960094451904], [4.407879829406738, 0.14283694326877594, 3.1513900756835938]]", "geodesic_distance": 10.07935905456543, "gt_locations": "[[-1.6153700351715088, 0.18682312965393066, 2.982759952545166], [-1.4903700351715088, 0.18682312965393066, 3.1992664337158203], [-1.3653700351715088, 0.18682312965393066, 3.4157729148864746], [-1.300665259361267, 0.18682312965393066, 3.657254219055176], [-1.0841588973999023, 0.18682312965393066, 3.8316969871520996], [-1.0194541215896606, 0.18682312965393066, 4.073178291320801], [-0.8944541215896606, 0.18682312965393066, 4.289684772491455], [-0.7694541215896606, 0.18682312965393066, 4.506191253662109], [-0.6444541215896606, 0.18682312965393066, 4.722697734832764], [-0.46767741441726685, 0.18682312965393066, 4.899474620819092], [-0.34267741441726685, 0.18682312965393066, 5.115981101989746], [-0.21767741441726685, 0.18682312965393066, 5.3324875831604], [-0.09267742186784744, 0.18682312965393066, 5.548994064331055], [0.03232257068157196, 0.18682312965393066, 5.765500545501709], [0.15732255578041077, 0.18682312965393066, 5.982007026672363], [0.28232255578041077, 0.18682312965393066, 6.198513507843018], [0.5238040089607239, 0.18682312965393066, 6.3316969871521], [0.6488040089607239, 0.18682312965393066, 6.548203468322754], [0.7738040089607239, 0.18682312965393066, 6.764709949493408], [0.9505806565284729, 0.18682312965393066, 6.941486835479736], [1.2005807161331177, 0.18682312965393066, 6.941486835479736], [1.4420621395111084, 0.18682312965393066, 7.006191730499268], [1.6920621395111084, 0.18682312965393066, 7.006191730499268], [1.9420621395111084, 0.18682312965393066, 7.006191730499268], [2.1920621395111084, 0.18682312965393066, 7.006191730499268], [2.2567670345306396, 0.18682312965393066, 6.764710426330566], [2.321471929550171, 0.18682312965393066, 6.523229122161865], [2.386176824569702, 0.18682312965393066, 6.281747817993164], [2.4508817195892334, 0.18682312965393066, 6.040266513824463], [2.5155866146087646, 0.18682312965393066, 5.798785209655762], [2.6405866146087646, 0.18682312965393066, 5.582278728485107], [2.7655866146087646, 0.18682312965393066, 5.365772247314453], [2.8905866146087646, 0.18682312965393066, 5.149265766143799], [2.955291509628296, 0.18682312965393066, 4.907784461975098], [3.019996404647827, 0.18682312965393066, 4.6663031578063965], [3.196773052215576, 0.18682312965393066, 4.489526271820068], [3.373549699783325, 0.18682312965393066, 4.31274938583374], [3.550326347351074, 0.18682312965393066, 4.135972499847412], [3.7271029949188232, 0.18682312965393066, 3.959195852279663], [3.9038796424865723, 0.18682312965393066, 3.782419204711914], [4.0806565284729, 0.18682312965393066, 3.605642557144165], [4.2056565284729, 0.16050666570663452, 3.38913631439209]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 3, 1, 2, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 294, "episode_id": "295", "scene_id": "i5noydFURQK", "instruction": "Exit the bathroom and talk in front of the foot of the bed, exit the bedroom using the doorway on the left, begin to walk down the hall and turn left at the first hallway, walk through the doorway on the right and stop at the foot of the bed. ", "start_position": [-1.6153700351715088, 0.18682312965393066, 2.982759952545166], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [4.407879829406738, 0.14283694326877594, 3.1513900756835938], "goal_radius": 3.0, "reference_path": "[[-1.6153700351715088, 0.18682312965393066, 2.982759952545166], [-0.1764950007200241, 0.18682312965393066, 5.465410232543945], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [3.436880111694336, 0.18682312965393066, 4.293960094451904], [4.407879829406738, 0.14283694326877594, 3.1513900756835938]]", "geodesic_distance": 10.07935905456543, "gt_locations": "[[-1.6153700351715088, 0.18682312965393066, 2.982759952545166], [-1.4903700351715088, 0.18682312965393066, 3.1992664337158203], [-1.3653700351715088, 0.18682312965393066, 3.4157729148864746], [-1.300665259361267, 0.18682312965393066, 3.657254219055176], [-1.0841588973999023, 0.18682312965393066, 3.8316969871520996], [-1.0194541215896606, 0.18682312965393066, 4.073178291320801], [-0.8944541215896606, 0.18682312965393066, 4.289684772491455], [-0.7694541215896606, 0.18682312965393066, 4.506191253662109], [-0.6444541215896606, 0.18682312965393066, 4.722697734832764], [-0.46767741441726685, 0.18682312965393066, 4.899474620819092], [-0.34267741441726685, 0.18682312965393066, 5.115981101989746], [-0.21767741441726685, 0.18682312965393066, 5.3324875831604], [-0.09267742186784744, 0.18682312965393066, 5.548994064331055], [0.03232257068157196, 0.18682312965393066, 5.765500545501709], [0.15732255578041077, 0.18682312965393066, 5.982007026672363], [0.28232255578041077, 0.18682312965393066, 6.198513507843018], [0.5238040089607239, 0.18682312965393066, 6.3316969871521], [0.6488040089607239, 0.18682312965393066, 6.548203468322754], [0.7738040089607239, 0.18682312965393066, 6.764709949493408], [0.9505806565284729, 0.18682312965393066, 6.941486835479736], [1.2005807161331177, 0.18682312965393066, 6.941486835479736], [1.4420621395111084, 0.18682312965393066, 7.006191730499268], [1.6920621395111084, 0.18682312965393066, 7.006191730499268], [1.9420621395111084, 0.18682312965393066, 7.006191730499268], [2.1920621395111084, 0.18682312965393066, 7.006191730499268], [2.2567670345306396, 0.18682312965393066, 6.764710426330566], [2.321471929550171, 0.18682312965393066, 6.523229122161865], [2.386176824569702, 0.18682312965393066, 6.281747817993164], [2.4508817195892334, 0.18682312965393066, 6.040266513824463], [2.5155866146087646, 0.18682312965393066, 5.798785209655762], [2.6405866146087646, 0.18682312965393066, 5.582278728485107], [2.7655866146087646, 0.18682312965393066, 5.365772247314453], [2.8905866146087646, 0.18682312965393066, 5.149265766143799], [2.955291509628296, 0.18682312965393066, 4.907784461975098], [3.019996404647827, 0.18682312965393066, 4.6663031578063965], [3.196773052215576, 0.18682312965393066, 4.489526271820068], [3.373549699783325, 0.18682312965393066, 4.31274938583374], [3.550326347351074, 0.18682312965393066, 4.135972499847412], [3.7271029949188232, 0.18682312965393066, 3.959195852279663], [3.9038796424865723, 0.18682312965393066, 3.782419204711914], [4.0806565284729, 0.18682312965393066, 3.605642557144165], [4.2056565284729, 0.16050666570663452, 3.38913631439209]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 3, 1, 2, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 295, "episode_id": "296", "scene_id": "p5wJjkQkbXX", "instruction": "Walk across game room, turn right at brown couch and enter hall with mirror, turn left and left again to wine cellar on right. ", "start_position": [-2.2424700260162354, -2.988731861114502, 5.042570114135742], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [0.928712010383606, -2.9336304664611816, -5.894100189208984], "goal_radius": 3.0, "reference_path": "[[-2.2424700260162354, -2.988731861114502, 5.042570114135742], [-2.2636399269104004, -2.988731861114502, 3.2007100582122803], [-2.170520067214966, -2.988731861114502, 0.06893400102853775], [-0.008533899672329426, -2.988731861114502, 0.0420817993581295], [2.100909948348999, -2.9447011947631836, 0.06374099850654602], [2.159409999847412, -2.988731861114502, -3.3600199222564697], [0.928712010383606, -2.9336304664611816, -5.894100189208984]]", "geodesic_distance": 13.039000511169434, "gt_locations": "[[-2.2424700260162354, -2.988731861114502, 5.042570114135742], [-2.2424700260162354, -2.988731861114502, 4.792570114135742], [-2.2424700260162354, -2.988731861114502, 4.542570114135742], [-2.3071746826171875, -2.988731861114502, 4.301088809967041], [-2.3071746826171875, -2.988731861114502, 4.051088809967041], [-2.3071746826171875, -2.988731861114502, 3.801088809967041], [-2.3071746826171875, -2.988731861114502, 3.551088809967041], [-2.3071746826171875, -2.988731861114502, 3.301088809967041], [-2.3071746826171875, -2.988731861114502, 3.051088809967041], [-2.3071746826171875, -2.988731861114502, 2.801088809967041], [-2.3071746826171875, -2.988731861114502, 2.551088809967041], [-2.3071746826171875, -2.988731861114502, 2.301088809967041], [-2.3071746826171875, -2.988731861114502, 2.051088809967041], [-2.3071746826171875, -2.988731861114502, 1.801088809967041], [-2.2424700260162354, -2.988731861114502, 1.5596073865890503], [-2.2424700260162354, -2.988731861114502, 1.3096073865890503], [-2.2424700260162354, -2.988731861114502, 1.0596073865890503], [-2.2424700260162354, -2.988731861114502, 0.8096073865890503], [-2.2424700260162354, -2.988731861114502, 0.5596073865890503], [-2.000988483428955, -2.988731861114502, 0.4949026107788086], [-1.7595069408416748, -2.988731861114502, 0.4301978349685669], [-1.5180253982543945, -2.988731861114502, 0.3654930591583252], [-1.2765438556671143, -2.988731861114502, 0.3007882833480835], [-1.035062313079834, -2.988731861114502, 0.236083522439003], [-0.7935808300971985, -2.988731861114502, 0.17137876152992249], [-0.552099347114563, -2.988731861114502, 0.10667400062084198], [-0.3106178641319275, -2.988731861114502, 0.041969239711761475], [-0.06061786413192749, -2.988731861114502, 0.04196922481060028], [0.1893821358680725, -2.988731861114502, 0.04196920990943909], [0.4393821358680725, -2.988731861114502, 0.04196919500827789], [0.6893821358680725, -2.988731861114502, 0.0419691801071167], [0.9393821358680725, -2.988731861114502, 0.041969165205955505], [1.1893820762634277, -2.988731861114502, 0.04196915030479431], [1.4393820762634277, -2.988731861114502, 0.04196913540363312], [1.6893820762634277, -2.9810330867767334, 0.041969120502471924], [1.7540868520736694, -2.9600272178649902, -0.1995123326778412], [1.8187916278839111, -2.988731861114502, -0.4409937858581543], [1.8834964036941528, -2.988731861114502, -0.682475209236145], [1.9482011795043945, -2.988731861114502, -0.9239566326141357], [1.9482011795043945, -2.988731861114502, -1.1739566326141357], [1.9482011795043945, -2.988731861114502, -1.4239566326141357], [1.9482011795043945, -2.988731861114502, -1.6739566326141357], [1.9482011795043945, -2.988731861114502, -1.9239566326141357], [1.9482011795043945, -2.988731861114502, -2.1739566326141357], [2.0129058361053467, -2.988731861114502, -2.415438175201416], [2.077610492706299, -2.988731861114502, -2.6569197177886963], [2.142315149307251, -2.988731861114502, -2.8984012603759766], [2.0776102542877197, -2.988731861114502, -3.139882802963257], [2.0129053592681885, -2.988731861114502, -3.381364345550537], [1.9482005834579468, -2.988731861114502, -3.6228458881378174], [1.8232005834579468, -2.988731861114502, -3.8393521308898926], [1.6982005834579468, -2.988731861114502, -4.055858612060547], [1.5732005834579468, -2.988731861114502, -4.272365093231201], [1.4482005834579468, -2.988731861114502, -4.4888715744018555], [1.3232005834579468, -2.988731861114502, -4.70537805557251], [1.258495807647705, -2.988731861114502, -4.946859359741211], [1.1937910318374634, -2.988731861114502, -5.188340663909912], [1.1290862560272217, -2.988731861114502, -5.429821968078613], [1.06438148021698, -2.9836273193359375, -5.6713032722473145]]", "gt_actions": "[3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 296, "episode_id": "297", "scene_id": "p5wJjkQkbXX", "instruction": "Exit the room.Turn left in the hall, away from the stairs. Walk into the wine room and stop. ", "start_position": [-2.2424700260162354, -2.988731861114502, 5.042570114135742], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [0.928712010383606, -2.9336304664611816, -5.894100189208984], "goal_radius": 3.0, "reference_path": "[[-2.2424700260162354, -2.988731861114502, 5.042570114135742], [-2.2636399269104004, -2.988731861114502, 3.2007100582122803], [-2.170520067214966, -2.988731861114502, 0.06893400102853775], [-0.008533899672329426, -2.988731861114502, 0.0420817993581295], [2.100909948348999, -2.9447011947631836, 0.06374099850654602], [2.159409999847412, -2.988731861114502, -3.3600199222564697], [0.928712010383606, -2.9336304664611816, -5.894100189208984]]", "geodesic_distance": 13.039000511169434, "gt_locations": "[[-2.2424700260162354, -2.988731861114502, 5.042570114135742], [-2.2424700260162354, -2.988731861114502, 4.792570114135742], [-2.2424700260162354, -2.988731861114502, 4.542570114135742], [-2.3071746826171875, -2.988731861114502, 4.301088809967041], [-2.3071746826171875, -2.988731861114502, 4.051088809967041], [-2.3071746826171875, -2.988731861114502, 3.801088809967041], [-2.3071746826171875, -2.988731861114502, 3.551088809967041], [-2.3071746826171875, -2.988731861114502, 3.301088809967041], [-2.3071746826171875, -2.988731861114502, 3.051088809967041], [-2.3071746826171875, -2.988731861114502, 2.801088809967041], [-2.3071746826171875, -2.988731861114502, 2.551088809967041], [-2.3071746826171875, -2.988731861114502, 2.301088809967041], [-2.3071746826171875, -2.988731861114502, 2.051088809967041], [-2.3071746826171875, -2.988731861114502, 1.801088809967041], [-2.2424700260162354, -2.988731861114502, 1.5596073865890503], [-2.2424700260162354, -2.988731861114502, 1.3096073865890503], [-2.2424700260162354, -2.988731861114502, 1.0596073865890503], [-2.2424700260162354, -2.988731861114502, 0.8096073865890503], [-2.2424700260162354, -2.988731861114502, 0.5596073865890503], [-2.000988483428955, -2.988731861114502, 0.4949026107788086], [-1.7595069408416748, -2.988731861114502, 0.4301978349685669], [-1.5180253982543945, -2.988731861114502, 0.3654930591583252], [-1.2765438556671143, -2.988731861114502, 0.3007882833480835], [-1.035062313079834, -2.988731861114502, 0.236083522439003], [-0.7935808300971985, -2.988731861114502, 0.17137876152992249], [-0.552099347114563, -2.988731861114502, 0.10667400062084198], [-0.3106178641319275, -2.988731861114502, 0.041969239711761475], [-0.06061786413192749, -2.988731861114502, 0.04196922481060028], [0.1893821358680725, -2.988731861114502, 0.04196920990943909], [0.4393821358680725, -2.988731861114502, 0.04196919500827789], [0.6893821358680725, -2.988731861114502, 0.0419691801071167], [0.9393821358680725, -2.988731861114502, 0.041969165205955505], [1.1893820762634277, -2.988731861114502, 0.04196915030479431], [1.4393820762634277, -2.988731861114502, 0.04196913540363312], [1.6893820762634277, -2.9810330867767334, 0.041969120502471924], [1.7540868520736694, -2.9600272178649902, -0.1995123326778412], [1.8187916278839111, -2.988731861114502, -0.4409937858581543], [1.8834964036941528, -2.988731861114502, -0.682475209236145], [1.9482011795043945, -2.988731861114502, -0.9239566326141357], [1.9482011795043945, -2.988731861114502, -1.1739566326141357], [1.9482011795043945, -2.988731861114502, -1.4239566326141357], [1.9482011795043945, -2.988731861114502, -1.6739566326141357], [1.9482011795043945, -2.988731861114502, -1.9239566326141357], [1.9482011795043945, -2.988731861114502, -2.1739566326141357], [2.0129058361053467, -2.988731861114502, -2.415438175201416], [2.077610492706299, -2.988731861114502, -2.6569197177886963], [2.142315149307251, -2.988731861114502, -2.8984012603759766], [2.0776102542877197, -2.988731861114502, -3.139882802963257], [2.0129053592681885, -2.988731861114502, -3.381364345550537], [1.9482005834579468, -2.988731861114502, -3.6228458881378174], [1.8232005834579468, -2.988731861114502, -3.8393521308898926], [1.6982005834579468, -2.988731861114502, -4.055858612060547], [1.5732005834579468, -2.988731861114502, -4.272365093231201], [1.4482005834579468, -2.988731861114502, -4.4888715744018555], [1.3232005834579468, -2.988731861114502, -4.70537805557251], [1.258495807647705, -2.988731861114502, -4.946859359741211], [1.1937910318374634, -2.988731861114502, -5.188340663909912], [1.1290862560272217, -2.988731861114502, -5.429821968078613], [1.06438148021698, -2.9836273193359375, -5.6713032722473145]]", "gt_actions": "[3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 297, "episode_id": "298", "scene_id": "p5wJjkQkbXX", "instruction": "Walk past the pool table and turn right. Walk into the next room and turn left. At the door to the bathroom, turn left, step forward to wait in the doorway to the wine cellar. ", "start_position": [-2.2424700260162354, -2.988731861114502, 5.042570114135742], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [0.928712010383606, -2.9336304664611816, -5.894100189208984], "goal_radius": 3.0, "reference_path": "[[-2.2424700260162354, -2.988731861114502, 5.042570114135742], [-2.2636399269104004, -2.988731861114502, 3.2007100582122803], [-2.170520067214966, -2.988731861114502, 0.06893400102853775], [-0.008533899672329426, -2.988731861114502, 0.0420817993581295], [2.100909948348999, -2.9447011947631836, 0.06374099850654602], [2.159409999847412, -2.988731861114502, -3.3600199222564697], [0.928712010383606, -2.9336304664611816, -5.894100189208984]]", "geodesic_distance": 13.039000511169434, "gt_locations": "[[-2.2424700260162354, -2.988731861114502, 5.042570114135742], [-2.2424700260162354, -2.988731861114502, 4.792570114135742], [-2.2424700260162354, -2.988731861114502, 4.542570114135742], [-2.3071746826171875, -2.988731861114502, 4.301088809967041], [-2.3071746826171875, -2.988731861114502, 4.051088809967041], [-2.3071746826171875, -2.988731861114502, 3.801088809967041], [-2.3071746826171875, -2.988731861114502, 3.551088809967041], [-2.3071746826171875, -2.988731861114502, 3.301088809967041], [-2.3071746826171875, -2.988731861114502, 3.051088809967041], [-2.3071746826171875, -2.988731861114502, 2.801088809967041], [-2.3071746826171875, -2.988731861114502, 2.551088809967041], [-2.3071746826171875, -2.988731861114502, 2.301088809967041], [-2.3071746826171875, -2.988731861114502, 2.051088809967041], [-2.3071746826171875, -2.988731861114502, 1.801088809967041], [-2.2424700260162354, -2.988731861114502, 1.5596073865890503], [-2.2424700260162354, -2.988731861114502, 1.3096073865890503], [-2.2424700260162354, -2.988731861114502, 1.0596073865890503], [-2.2424700260162354, -2.988731861114502, 0.8096073865890503], [-2.2424700260162354, -2.988731861114502, 0.5596073865890503], [-2.000988483428955, -2.988731861114502, 0.4949026107788086], [-1.7595069408416748, -2.988731861114502, 0.4301978349685669], [-1.5180253982543945, -2.988731861114502, 0.3654930591583252], [-1.2765438556671143, -2.988731861114502, 0.3007882833480835], [-1.035062313079834, -2.988731861114502, 0.236083522439003], [-0.7935808300971985, -2.988731861114502, 0.17137876152992249], [-0.552099347114563, -2.988731861114502, 0.10667400062084198], [-0.3106178641319275, -2.988731861114502, 0.041969239711761475], [-0.06061786413192749, -2.988731861114502, 0.04196922481060028], [0.1893821358680725, -2.988731861114502, 0.04196920990943909], [0.4393821358680725, -2.988731861114502, 0.04196919500827789], [0.6893821358680725, -2.988731861114502, 0.0419691801071167], [0.9393821358680725, -2.988731861114502, 0.041969165205955505], [1.1893820762634277, -2.988731861114502, 0.04196915030479431], [1.4393820762634277, -2.988731861114502, 0.04196913540363312], [1.6893820762634277, -2.9810330867767334, 0.041969120502471924], [1.7540868520736694, -2.9600272178649902, -0.1995123326778412], [1.8187916278839111, -2.988731861114502, -0.4409937858581543], [1.8834964036941528, -2.988731861114502, -0.682475209236145], [1.9482011795043945, -2.988731861114502, -0.9239566326141357], [1.9482011795043945, -2.988731861114502, -1.1739566326141357], [1.9482011795043945, -2.988731861114502, -1.4239566326141357], [1.9482011795043945, -2.988731861114502, -1.6739566326141357], [1.9482011795043945, -2.988731861114502, -1.9239566326141357], [1.9482011795043945, -2.988731861114502, -2.1739566326141357], [2.0129058361053467, -2.988731861114502, -2.415438175201416], [2.077610492706299, -2.988731861114502, -2.6569197177886963], [2.142315149307251, -2.988731861114502, -2.8984012603759766], [2.0776102542877197, -2.988731861114502, -3.139882802963257], [2.0129053592681885, -2.988731861114502, -3.381364345550537], [1.9482005834579468, -2.988731861114502, -3.6228458881378174], [1.8232005834579468, -2.988731861114502, -3.8393521308898926], [1.6982005834579468, -2.988731861114502, -4.055858612060547], [1.5732005834579468, -2.988731861114502, -4.272365093231201], [1.4482005834579468, -2.988731861114502, -4.4888715744018555], [1.3232005834579468, -2.988731861114502, -4.70537805557251], [1.258495807647705, -2.988731861114502, -4.946859359741211], [1.1937910318374634, -2.988731861114502, -5.188340663909912], [1.1290862560272217, -2.988731861114502, -5.429821968078613], [1.06438148021698, -2.9836273193359375, -5.6713032722473145]]", "gt_actions": "[3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 298, "episode_id": "299", "scene_id": "E9uDoFAP3SH", "instruction": "Take a left and then take another left through the doorway. Walk straight until you get to the blue carpet. Then take a right and walk outside through the double doors. Wait just outside the doors please. ", "start_position": [9.091540336608887, 0.24438095092773438, -0.615805983543396], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.5028340220451355, 0.22881758213043213, -7.1988301277160645], "goal_radius": 3.0, "reference_path": "[[9.091540336608887, 0.24438095092773438, -0.615805983543396], [8.022210121154785, 0.24438095092773438, -2.9687399864196777], [5.396480083465576, 0.24438095092773438, -2.9434099197387695], [2.0169498920440674, 0.24438095092773438, -2.8595900535583496], [-0.5470319986343384, 0.24438095092773438, -5.70442008972168], [-0.5028340220451355, 0.22881758213043213, -7.1988301277160645]]", "geodesic_distance": 12.143747329711914, "gt_locations": "[[9.091540336608887, 0.24438095092773438, -0.615805983543396], [9.026835441589355, 0.24438095092773438, -0.8572874069213867], [8.901835441589355, 0.24438095092773438, -1.0737937688827515], [8.776835441589355, 0.24438095092773438, -1.2903001308441162], [8.651835441589355, 0.24438095092773438, -1.506806492805481], [8.526835441589355, 0.24438095092773438, -1.7233128547668457], [8.401835441589355, 0.24438095092773438, -1.9398192167282104], [8.337130546569824, 0.24438095092773438, -2.181300640106201], [8.272425651550293, 0.24438095092773438, -2.4227821826934814], [8.147425651550293, 0.24438095092773438, -2.6392884254455566], [7.905944347381592, 0.24438095092773438, -2.703993082046509], [7.664463043212891, 0.24438095092773438, -2.768697738647461], [7.414463043212891, 0.24438095092773438, -2.768697738647461], [7.1729817390441895, 0.24438095092773438, -2.833402395248413], [6.9229817390441895, 0.24438095092773438, -2.833402395248413], [6.6729817390441895, 0.24438095092773438, -2.833402395248413], [6.4229817390441895, 0.24438095092773438, -2.833402395248413], [6.1729817390441895, 0.24438095092773438, -2.833402395248413], [5.9229817390441895, 0.24438095092773438, -2.833402395248413], [5.681500434875488, 0.24438095092773438, -2.8981070518493652], [5.431500434875488, 0.24438095092773438, -2.8981070518493652], [5.181500434875488, 0.24438095092773438, -2.8981070518493652], [4.931500434875488, 0.24438095092773438, -2.8981070518493652], [4.681500434875488, 0.24438095092773438, -2.8981070518493652], [4.431500434875488, 0.24438095092773438, -2.8981070518493652], [4.181500434875488, 0.24438095092773438, -2.8981070518493652], [3.9315004348754883, 0.24438095092773438, -2.8981070518493652], [3.6815004348754883, 0.24438095092773438, -2.8981070518493652], [3.4315004348754883, 0.24438095092773438, -2.8981070518493652], [3.1815004348754883, 0.24438095092773438, -2.8981070518493652], [2.9315004348754883, 0.24438095092773438, -2.8981070518493652], [2.6815004348754883, 0.24438095092773438, -2.8981070518493652], [2.4315004348754883, 0.24438095092773438, -2.8981070518493652], [2.2547237873077393, 0.24438095092773438, -3.0748836994171143], [2.0779471397399902, 0.24438095092773438, -3.2516603469848633], [1.9011703729629517, 0.24438095092773438, -3.4284369945526123], [1.724393606185913, 0.24438095092773438, -3.6052136421203613], [1.5476168394088745, 0.24438095092773438, -3.7819902896881104], [1.370840072631836, 0.24438095092773438, -3.9587669372558594], [1.1940633058547974, 0.24438095092773438, -4.1355438232421875], [1.0172865390777588, 0.24438095092773438, -4.312320709228516], [0.8405097723007202, 0.24438095092773438, -4.489097595214844], [0.6637330055236816, 0.24438095092773438, -4.665874481201172], [0.48695626854896545, 0.24438095092773438, -4.8426513671875], [0.31017953157424927, 0.24438095092773438, -5.019428253173828], [0.13340279459953308, 0.24438095092773438, -5.196205139160156], [-0.043373942375183105, 0.24438095092773438, -5.372982025146484], [-0.25988030433654785, 0.24438095092773438, -5.497982025146484], [-0.25988033413887024, 0.24438095092773438, -5.747982025146484], [-0.2598803639411926, 0.24438095092773438, -5.997982025146484], [-0.3245851695537567, 0.24438095092773438, -6.2394633293151855], [-0.3892899751663208, 0.24438095092773438, -6.480944633483887], [-0.4539947807788849, 0.24438095092773438, -6.722425937652588]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 299, "episode_id": "300", "scene_id": "E9uDoFAP3SH", "instruction": "Go through the first open doorway on your left. Walk down the hall and into the large dining room with two large round tables in the middle of the room.  Go through the double doors leading to the outside located on your right. Stand and wait just outside on the covered porch. ", "start_position": [9.091540336608887, 0.24438095092773438, -0.615805983543396], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.5028340220451355, 0.22881758213043213, -7.1988301277160645], "goal_radius": 3.0, "reference_path": "[[9.091540336608887, 0.24438095092773438, -0.615805983543396], [8.022210121154785, 0.24438095092773438, -2.9687399864196777], [5.396480083465576, 0.24438095092773438, -2.9434099197387695], [2.0169498920440674, 0.24438095092773438, -2.8595900535583496], [-0.5470319986343384, 0.24438095092773438, -5.70442008972168], [-0.5028340220451355, 0.22881758213043213, -7.1988301277160645]]", "geodesic_distance": 12.143747329711914, "gt_locations": "[[9.091540336608887, 0.24438095092773438, -0.615805983543396], [9.026835441589355, 0.24438095092773438, -0.8572874069213867], [8.901835441589355, 0.24438095092773438, -1.0737937688827515], [8.776835441589355, 0.24438095092773438, -1.2903001308441162], [8.651835441589355, 0.24438095092773438, -1.506806492805481], [8.526835441589355, 0.24438095092773438, -1.7233128547668457], [8.401835441589355, 0.24438095092773438, -1.9398192167282104], [8.337130546569824, 0.24438095092773438, -2.181300640106201], [8.272425651550293, 0.24438095092773438, -2.4227821826934814], [8.147425651550293, 0.24438095092773438, -2.6392884254455566], [7.905944347381592, 0.24438095092773438, -2.703993082046509], [7.664463043212891, 0.24438095092773438, -2.768697738647461], [7.414463043212891, 0.24438095092773438, -2.768697738647461], [7.1729817390441895, 0.24438095092773438, -2.833402395248413], [6.9229817390441895, 0.24438095092773438, -2.833402395248413], [6.6729817390441895, 0.24438095092773438, -2.833402395248413], [6.4229817390441895, 0.24438095092773438, -2.833402395248413], [6.1729817390441895, 0.24438095092773438, -2.833402395248413], [5.9229817390441895, 0.24438095092773438, -2.833402395248413], [5.681500434875488, 0.24438095092773438, -2.8981070518493652], [5.431500434875488, 0.24438095092773438, -2.8981070518493652], [5.181500434875488, 0.24438095092773438, -2.8981070518493652], [4.931500434875488, 0.24438095092773438, -2.8981070518493652], [4.681500434875488, 0.24438095092773438, -2.8981070518493652], [4.431500434875488, 0.24438095092773438, -2.8981070518493652], [4.181500434875488, 0.24438095092773438, -2.8981070518493652], [3.9315004348754883, 0.24438095092773438, -2.8981070518493652], [3.6815004348754883, 0.24438095092773438, -2.8981070518493652], [3.4315004348754883, 0.24438095092773438, -2.8981070518493652], [3.1815004348754883, 0.24438095092773438, -2.8981070518493652], [2.9315004348754883, 0.24438095092773438, -2.8981070518493652], [2.6815004348754883, 0.24438095092773438, -2.8981070518493652], [2.4315004348754883, 0.24438095092773438, -2.8981070518493652], [2.2547237873077393, 0.24438095092773438, -3.0748836994171143], [2.0779471397399902, 0.24438095092773438, -3.2516603469848633], [1.9011703729629517, 0.24438095092773438, -3.4284369945526123], [1.724393606185913, 0.24438095092773438, -3.6052136421203613], [1.5476168394088745, 0.24438095092773438, -3.7819902896881104], [1.370840072631836, 0.24438095092773438, -3.9587669372558594], [1.1940633058547974, 0.24438095092773438, -4.1355438232421875], [1.0172865390777588, 0.24438095092773438, -4.312320709228516], [0.8405097723007202, 0.24438095092773438, -4.489097595214844], [0.6637330055236816, 0.24438095092773438, -4.665874481201172], [0.48695626854896545, 0.24438095092773438, -4.8426513671875], [0.31017953157424927, 0.24438095092773438, -5.019428253173828], [0.13340279459953308, 0.24438095092773438, -5.196205139160156], [-0.043373942375183105, 0.24438095092773438, -5.372982025146484], [-0.25988030433654785, 0.24438095092773438, -5.497982025146484], [-0.25988033413887024, 0.24438095092773438, -5.747982025146484], [-0.2598803639411926, 0.24438095092773438, -5.997982025146484], [-0.3245851695537567, 0.24438095092773438, -6.2394633293151855], [-0.3892899751663208, 0.24438095092773438, -6.480944633483887], [-0.4539947807788849, 0.24438095092773438, -6.722425937652588]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 300, "episode_id": "301", "scene_id": "E9uDoFAP3SH", "instruction": "Turn to your left and exit the door into the hallway. Go down the hallway and enter the large room with the rug. Turn right and then head for the middle doors leading outside. Stop facing out the doors looking outside. ", "start_position": [9.091540336608887, 0.24438095092773438, -0.615805983543396], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.5028340220451355, 0.22881758213043213, -7.1988301277160645], "goal_radius": 3.0, "reference_path": "[[9.091540336608887, 0.24438095092773438, -0.615805983543396], [8.022210121154785, 0.24438095092773438, -2.9687399864196777], [5.396480083465576, 0.24438095092773438, -2.9434099197387695], [2.0169498920440674, 0.24438095092773438, -2.8595900535583496], [-0.5470319986343384, 0.24438095092773438, -5.70442008972168], [-0.5028340220451355, 0.22881758213043213, -7.1988301277160645]]", "geodesic_distance": 12.143747329711914, "gt_locations": "[[9.091540336608887, 0.24438095092773438, -0.615805983543396], [9.026835441589355, 0.24438095092773438, -0.8572874069213867], [8.901835441589355, 0.24438095092773438, -1.0737937688827515], [8.776835441589355, 0.24438095092773438, -1.2903001308441162], [8.651835441589355, 0.24438095092773438, -1.506806492805481], [8.526835441589355, 0.24438095092773438, -1.7233128547668457], [8.401835441589355, 0.24438095092773438, -1.9398192167282104], [8.337130546569824, 0.24438095092773438, -2.181300640106201], [8.272425651550293, 0.24438095092773438, -2.4227821826934814], [8.147425651550293, 0.24438095092773438, -2.6392884254455566], [7.905944347381592, 0.24438095092773438, -2.703993082046509], [7.664463043212891, 0.24438095092773438, -2.768697738647461], [7.414463043212891, 0.24438095092773438, -2.768697738647461], [7.1729817390441895, 0.24438095092773438, -2.833402395248413], [6.9229817390441895, 0.24438095092773438, -2.833402395248413], [6.6729817390441895, 0.24438095092773438, -2.833402395248413], [6.4229817390441895, 0.24438095092773438, -2.833402395248413], [6.1729817390441895, 0.24438095092773438, -2.833402395248413], [5.9229817390441895, 0.24438095092773438, -2.833402395248413], [5.681500434875488, 0.24438095092773438, -2.8981070518493652], [5.431500434875488, 0.24438095092773438, -2.8981070518493652], [5.181500434875488, 0.24438095092773438, -2.8981070518493652], [4.931500434875488, 0.24438095092773438, -2.8981070518493652], [4.681500434875488, 0.24438095092773438, -2.8981070518493652], [4.431500434875488, 0.24438095092773438, -2.8981070518493652], [4.181500434875488, 0.24438095092773438, -2.8981070518493652], [3.9315004348754883, 0.24438095092773438, -2.8981070518493652], [3.6815004348754883, 0.24438095092773438, -2.8981070518493652], [3.4315004348754883, 0.24438095092773438, -2.8981070518493652], [3.1815004348754883, 0.24438095092773438, -2.8981070518493652], [2.9315004348754883, 0.24438095092773438, -2.8981070518493652], [2.6815004348754883, 0.24438095092773438, -2.8981070518493652], [2.4315004348754883, 0.24438095092773438, -2.8981070518493652], [2.2547237873077393, 0.24438095092773438, -3.0748836994171143], [2.0779471397399902, 0.24438095092773438, -3.2516603469848633], [1.9011703729629517, 0.24438095092773438, -3.4284369945526123], [1.724393606185913, 0.24438095092773438, -3.6052136421203613], [1.5476168394088745, 0.24438095092773438, -3.7819902896881104], [1.370840072631836, 0.24438095092773438, -3.9587669372558594], [1.1940633058547974, 0.24438095092773438, -4.1355438232421875], [1.0172865390777588, 0.24438095092773438, -4.312320709228516], [0.8405097723007202, 0.24438095092773438, -4.489097595214844], [0.6637330055236816, 0.24438095092773438, -4.665874481201172], [0.48695626854896545, 0.24438095092773438, -4.8426513671875], [0.31017953157424927, 0.24438095092773438, -5.019428253173828], [0.13340279459953308, 0.24438095092773438, -5.196205139160156], [-0.043373942375183105, 0.24438095092773438, -5.372982025146484], [-0.25988030433654785, 0.24438095092773438, -5.497982025146484], [-0.25988033413887024, 0.24438095092773438, -5.747982025146484], [-0.2598803639411926, 0.24438095092773438, -5.997982025146484], [-0.3245851695537567, 0.24438095092773438, -6.2394633293151855], [-0.3892899751663208, 0.24438095092773438, -6.480944633483887], [-0.4539947807788849, 0.24438095092773438, -6.722425937652588]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 301, "episode_id": "302", "scene_id": "1LXtFkjw3qL", "instruction": "Exit the bathroom toward the room and pass the black curtain, then pass the green couch and go out the white door on the right and stop at the top of the stairs. ", "start_position": [-2.0391299724578857, 3.4844110012054443, 15.15719985961914], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.4428800344467163, 3.4510085582733154, 3.8511300086975098], "goal_radius": 3.0, "reference_path": "[[-2.0391299724578857, 3.4844110012054443, 15.15719985961914], [-2.8900198936462402, 3.5832509994506836, 10.917799949645996], [-2.273930072784424, 3.536815881729126, 9.101829528808594], [-0.7456870079040527, 3.5127248764038086, 5.9223198890686035], [1.4133299589157104, 3.4844110012054443, 5.161220073699951], [1.4428800344467163, 3.4510085582733154, 3.8511300086975098]]", "geodesic_distance": 12.5421724319458, "gt_locations": "[[-2.0391299724578857, 3.4844110012054443, 15.15719985961914], [-2.103834629058838, 3.4844110012054443, 14.915718078613281], [-2.16853928565979, 3.4844110012054443, 14.674236297607422], [-2.233243942260742, 3.4844110012054443, 14.432754516601562], [-2.2979485988616943, 3.4844110012054443, 14.191272735595703], [-2.3626532554626465, 3.5936949253082275, 13.949790954589844], [-2.4273579120635986, 3.596336841583252, 13.708309173583984], [-2.492062568664551, 3.595608949661255, 13.466827392578125], [-2.556767225265503, 3.5982186794281006, 13.225345611572266], [-2.621471881866455, 3.607478380203247, 12.983863830566406], [-2.6861765384674072, 3.6167380809783936, 12.742382049560547], [-2.7508811950683594, 3.62599778175354, 12.500900268554688], [-2.8155858516693115, 3.6352574825286865, 12.259418487548828], [-2.8155858516693115, 3.6528337001800537, 12.009418487548828], [-2.8155858516693115, 3.670409679412842, 11.759418487548828], [-2.8155858516693115, 3.6785364151000977, 11.509418487548828], [-2.8155858516693115, 3.5979459285736084, 11.259418487548828], [-2.7508811950683594, 3.586397171020508, 11.017936706542969], [-2.6861765384674072, 3.6321754455566406, 10.77645492553711], [-2.621471881866455, 3.6779539585113525, 10.53497314453125], [-2.556767225265503, 3.632725715637207, 10.29349136352539], [-2.492062568664551, 3.5658421516418457, 10.052009582519531], [-2.4273579120635986, 3.526296377182007, 9.810527801513672], [-2.3626532554626465, 3.5178821086883545, 9.569046020507812], [-2.2979485988616943, 3.5273005962371826, 9.327564239501953], [-2.233243942260742, 3.5336737632751465, 9.086082458496094], [-2.108243942260742, 3.5328521728515625, 8.869576454162598], [-1.9832439422607422, 3.520551919937134, 8.653070449829102], [-1.9185391664505005, 3.512939691543579, 8.411588668823242], [-1.8538343906402588, 3.517071008682251, 8.170106887817383], [-1.7288343906402588, 3.6222598552703857, 7.9536004066467285], [-1.6038343906402588, 3.6763203144073486, 7.737093925476074], [-1.4788343906402588, 3.6528937816619873, 7.52058744430542], [-1.3538343906402588, 3.629467248916626, 7.304080963134766], [-1.2288343906402588, 3.6076910495758057, 7.087574481964111], [-1.1038343906402588, 3.5892648696899414, 6.871068000793457], [-1.039129614830017, 3.5687131881713867, 6.629586696624756], [-0.9744248390197754, 3.5533485412597656, 6.388105392456055], [-0.8494248390197754, 3.53426194190979, 6.1715989112854], [-0.6329184770584106, 3.521667242050171, 6.0465989112854], [-0.4164121150970459, 3.5090723037719727, 5.9215989112854], [-0.19990575313568115, 3.4958434104919434, 5.7965989112854], [0.041575729846954346, 3.4910778999328613, 5.731894016265869], [0.28305721282958984, 3.4932360649108887, 5.667189121246338], [0.5245386958122253, 3.492565870285034, 5.602484226226807], [0.7660201787948608, 3.4918954372406006, 5.537779331207275], [0.9825264811515808, 3.485600709915161, 5.412779331207275], [1.072286605834961, 3.4844110012054443, 5.170686721801758], [1.1369913816452026, 3.4844110012054443, 4.929205417633057], [1.2016961574554443, 3.4844110012054443, 4.6877241134643555], [1.266400933265686, 3.4844110012054443, 4.446242809295654], [1.3311057090759277, 3.4844110012054443, 4.204761505126953]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 302, "episode_id": "303", "scene_id": "1LXtFkjw3qL", "instruction": "Walk forward to the yellow sofa thing.  Walk around the yellow sofa thing and enter the door on the left.  Stand at the top of the stairs. ", "start_position": [-2.0391299724578857, 3.4844110012054443, 15.15719985961914], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.4428800344467163, 3.4510085582733154, 3.8511300086975098], "goal_radius": 3.0, "reference_path": "[[-2.0391299724578857, 3.4844110012054443, 15.15719985961914], [-2.8900198936462402, 3.5832509994506836, 10.917799949645996], [-2.273930072784424, 3.536815881729126, 9.101829528808594], [-0.7456870079040527, 3.5127248764038086, 5.9223198890686035], [1.4133299589157104, 3.4844110012054443, 5.161220073699951], [1.4428800344467163, 3.4510085582733154, 3.8511300086975098]]", "geodesic_distance": 12.5421724319458, "gt_locations": "[[-2.0391299724578857, 3.4844110012054443, 15.15719985961914], [-2.103834629058838, 3.4844110012054443, 14.915718078613281], [-2.16853928565979, 3.4844110012054443, 14.674236297607422], [-2.233243942260742, 3.4844110012054443, 14.432754516601562], [-2.2979485988616943, 3.4844110012054443, 14.191272735595703], [-2.3626532554626465, 3.5936949253082275, 13.949790954589844], [-2.4273579120635986, 3.596336841583252, 13.708309173583984], [-2.492062568664551, 3.595608949661255, 13.466827392578125], [-2.556767225265503, 3.5982186794281006, 13.225345611572266], [-2.621471881866455, 3.607478380203247, 12.983863830566406], [-2.6861765384674072, 3.6167380809783936, 12.742382049560547], [-2.7508811950683594, 3.62599778175354, 12.500900268554688], [-2.8155858516693115, 3.6352574825286865, 12.259418487548828], [-2.8155858516693115, 3.6528337001800537, 12.009418487548828], [-2.8155858516693115, 3.670409679412842, 11.759418487548828], [-2.8155858516693115, 3.6785364151000977, 11.509418487548828], [-2.8155858516693115, 3.5979459285736084, 11.259418487548828], [-2.7508811950683594, 3.586397171020508, 11.017936706542969], [-2.6861765384674072, 3.6321754455566406, 10.77645492553711], [-2.621471881866455, 3.6779539585113525, 10.53497314453125], [-2.556767225265503, 3.632725715637207, 10.29349136352539], [-2.492062568664551, 3.5658421516418457, 10.052009582519531], [-2.4273579120635986, 3.526296377182007, 9.810527801513672], [-2.3626532554626465, 3.5178821086883545, 9.569046020507812], [-2.2979485988616943, 3.5273005962371826, 9.327564239501953], [-2.233243942260742, 3.5336737632751465, 9.086082458496094], [-2.108243942260742, 3.5328521728515625, 8.869576454162598], [-1.9832439422607422, 3.520551919937134, 8.653070449829102], [-1.9185391664505005, 3.512939691543579, 8.411588668823242], [-1.8538343906402588, 3.517071008682251, 8.170106887817383], [-1.7288343906402588, 3.6222598552703857, 7.9536004066467285], [-1.6038343906402588, 3.6763203144073486, 7.737093925476074], [-1.4788343906402588, 3.6528937816619873, 7.52058744430542], [-1.3538343906402588, 3.629467248916626, 7.304080963134766], [-1.2288343906402588, 3.6076910495758057, 7.087574481964111], [-1.1038343906402588, 3.5892648696899414, 6.871068000793457], [-1.039129614830017, 3.5687131881713867, 6.629586696624756], [-0.9744248390197754, 3.5533485412597656, 6.388105392456055], [-0.8494248390197754, 3.53426194190979, 6.1715989112854], [-0.6329184770584106, 3.521667242050171, 6.0465989112854], [-0.4164121150970459, 3.5090723037719727, 5.9215989112854], [-0.19990575313568115, 3.4958434104919434, 5.7965989112854], [0.041575729846954346, 3.4910778999328613, 5.731894016265869], [0.28305721282958984, 3.4932360649108887, 5.667189121246338], [0.5245386958122253, 3.492565870285034, 5.602484226226807], [0.7660201787948608, 3.4918954372406006, 5.537779331207275], [0.9825264811515808, 3.485600709915161, 5.412779331207275], [1.072286605834961, 3.4844110012054443, 5.170686721801758], [1.1369913816452026, 3.4844110012054443, 4.929205417633057], [1.2016961574554443, 3.4844110012054443, 4.6877241134643555], [1.266400933265686, 3.4844110012054443, 4.446242809295654], [1.3311057090759277, 3.4844110012054443, 4.204761505126953]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 303, "episode_id": "304", "scene_id": "1LXtFkjw3qL", "instruction": "Walk straight across the room to the other side. Once at the green bed, exit the room out of the door to your right. Once out, stop before you reach the steps. ", "start_position": [-2.0391299724578857, 3.4844110012054443, 15.15719985961914], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.4428800344467163, 3.4510085582733154, 3.8511300086975098], "goal_radius": 3.0, "reference_path": "[[-2.0391299724578857, 3.4844110012054443, 15.15719985961914], [-2.8900198936462402, 3.5832509994506836, 10.917799949645996], [-2.273930072784424, 3.536815881729126, 9.101829528808594], [-0.7456870079040527, 3.5127248764038086, 5.9223198890686035], [1.4133299589157104, 3.4844110012054443, 5.161220073699951], [1.4428800344467163, 3.4510085582733154, 3.8511300086975098]]", "geodesic_distance": 12.5421724319458, "gt_locations": "[[-2.0391299724578857, 3.4844110012054443, 15.15719985961914], [-2.103834629058838, 3.4844110012054443, 14.915718078613281], [-2.16853928565979, 3.4844110012054443, 14.674236297607422], [-2.233243942260742, 3.4844110012054443, 14.432754516601562], [-2.2979485988616943, 3.4844110012054443, 14.191272735595703], [-2.3626532554626465, 3.5936949253082275, 13.949790954589844], [-2.4273579120635986, 3.596336841583252, 13.708309173583984], [-2.492062568664551, 3.595608949661255, 13.466827392578125], [-2.556767225265503, 3.5982186794281006, 13.225345611572266], [-2.621471881866455, 3.607478380203247, 12.983863830566406], [-2.6861765384674072, 3.6167380809783936, 12.742382049560547], [-2.7508811950683594, 3.62599778175354, 12.500900268554688], [-2.8155858516693115, 3.6352574825286865, 12.259418487548828], [-2.8155858516693115, 3.6528337001800537, 12.009418487548828], [-2.8155858516693115, 3.670409679412842, 11.759418487548828], [-2.8155858516693115, 3.6785364151000977, 11.509418487548828], [-2.8155858516693115, 3.5979459285736084, 11.259418487548828], [-2.7508811950683594, 3.586397171020508, 11.017936706542969], [-2.6861765384674072, 3.6321754455566406, 10.77645492553711], [-2.621471881866455, 3.6779539585113525, 10.53497314453125], [-2.556767225265503, 3.632725715637207, 10.29349136352539], [-2.492062568664551, 3.5658421516418457, 10.052009582519531], [-2.4273579120635986, 3.526296377182007, 9.810527801513672], [-2.3626532554626465, 3.5178821086883545, 9.569046020507812], [-2.2979485988616943, 3.5273005962371826, 9.327564239501953], [-2.233243942260742, 3.5336737632751465, 9.086082458496094], [-2.108243942260742, 3.5328521728515625, 8.869576454162598], [-1.9832439422607422, 3.520551919937134, 8.653070449829102], [-1.9185391664505005, 3.512939691543579, 8.411588668823242], [-1.8538343906402588, 3.517071008682251, 8.170106887817383], [-1.7288343906402588, 3.6222598552703857, 7.9536004066467285], [-1.6038343906402588, 3.6763203144073486, 7.737093925476074], [-1.4788343906402588, 3.6528937816619873, 7.52058744430542], [-1.3538343906402588, 3.629467248916626, 7.304080963134766], [-1.2288343906402588, 3.6076910495758057, 7.087574481964111], [-1.1038343906402588, 3.5892648696899414, 6.871068000793457], [-1.039129614830017, 3.5687131881713867, 6.629586696624756], [-0.9744248390197754, 3.5533485412597656, 6.388105392456055], [-0.8494248390197754, 3.53426194190979, 6.1715989112854], [-0.6329184770584106, 3.521667242050171, 6.0465989112854], [-0.4164121150970459, 3.5090723037719727, 5.9215989112854], [-0.19990575313568115, 3.4958434104919434, 5.7965989112854], [0.041575729846954346, 3.4910778999328613, 5.731894016265869], [0.28305721282958984, 3.4932360649108887, 5.667189121246338], [0.5245386958122253, 3.492565870285034, 5.602484226226807], [0.7660201787948608, 3.4918954372406006, 5.537779331207275], [0.9825264811515808, 3.485600709915161, 5.412779331207275], [1.072286605834961, 3.4844110012054443, 5.170686721801758], [1.1369913816452026, 3.4844110012054443, 4.929205417633057], [1.2016961574554443, 3.4844110012054443, 4.6877241134643555], [1.266400933265686, 3.4844110012054443, 4.446242809295654], [1.3311057090759277, 3.4844110012054443, 4.204761505126953]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 304, "episode_id": "305", "scene_id": "ZMojNkEp431", "instruction": "You need to walk to the end of the table and make a left, stop when you get to the end of the light wood table. When you get to the end of the table make a right turn and wait on the line on the floor between the table and ping pong table. ", "start_position": [6.870639801025391, 0.09357202053070068, -6.311359882354736], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [7.903989791870117, 0.09357202053070068, -0.2666899859905243], "goal_radius": 3.0, "reference_path": "[[6.870639801025391, 0.09357202053070068, -6.311359882354736], [4.894289970397949, 0.09357202053070068, -4.614099979400635], [6.5514397621154785, 0.09357202053070068, -3.5540199279785156], [8.224519729614258, 0.09357202053070068, -2.7607998847961426], [7.903989791870117, 0.09357202053070068, -0.2666899859905243]]", "geodesic_distance": 6.938437461853027, "gt_locations": "[[6.870639801025391, 0.09357202053070068, -6.311359882354736], [6.654133319854736, 0.09357202053070068, -6.186359882354736], [6.437626838684082, 0.09357202053070068, -6.061359882354736], [6.196145534515381, 0.09357202053070068, -5.996654987335205], [5.95466423034668, 0.09357202053070068, -5.931950092315674], [5.738157749176025, 0.09357202053070068, -5.806950092315674], [5.496676445007324, 0.09357202053070068, -5.742245197296143], [5.28016996383667, 0.09357202053070068, -5.617245197296143], [5.15516996383667, 0.09357202053070068, -5.400738716125488], [5.090465068817139, 0.09357202053070068, -5.159257411956787], [5.025760173797607, 0.09357202053070068, -4.917776107788086], [5.150760173797607, 0.09357202053070068, -4.701269626617432], [5.3275370597839355, 0.09357202053070068, -4.5244927406311035], [5.504313945770264, 0.09357202053070068, -4.347715854644775], [5.681090831756592, 0.09357202053070068, -4.170938968658447], [5.897597312927246, 0.09357202053070068, -4.045938968658447], [6.1141037940979, 0.09357202053070068, -3.9209389686584473], [6.2908806800842285, 0.09357202053070068, -3.7441623210906982], [6.507387161254883, 0.09357202053070068, -3.6191623210906982], [6.723893642425537, 0.09357202053070068, -3.4941623210906982], [6.940400123596191, 0.09357202053070068, -3.3691623210906982], [7.156906604766846, 0.09357202053070068, -3.2441623210906982], [7.3734130859375, 0.09357202053070068, -3.1191623210906982], [7.614894390106201, 0.09357202053070068, -3.054457664489746], [7.856375694274902, 0.09357202053070068, -2.989753007888794], [8.03315258026123, 0.09357202053070068, -2.812976360321045], [8.15815258026123, 0.09357202053070068, -2.5964698791503906], [8.222857475280762, 0.09357202053070068, -2.3549885749816895], [8.347857475280762, 0.09357202053070068, -2.1384823322296143], [8.366050720214844, 0.09357202053070068, -1.8884823322296143], [8.366050720214844, 0.09357202053070068, -1.6384823322296143], [8.301345825195312, 0.09357202053070068, -1.397000789642334], [8.236640930175781, 0.09357202053070068, -1.1555192470550537], [8.17193603515625, 0.09357202053070068, -0.9140377640724182], [8.107231140136719, 0.09357202053070068, -0.6725562810897827]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 2, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 305, "episode_id": "306", "scene_id": "ZMojNkEp431", "instruction": "Walk around the right side of the table, through the pillars into the larger room.  Now go around the left side of the long table and stop in the middle of the room with the ping pong table to your right. ", "start_position": [6.870639801025391, 0.09357202053070068, -6.311359882354736], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [7.903989791870117, 0.09357202053070068, -0.2666899859905243], "goal_radius": 3.0, "reference_path": "[[6.870639801025391, 0.09357202053070068, -6.311359882354736], [4.894289970397949, 0.09357202053070068, -4.614099979400635], [6.5514397621154785, 0.09357202053070068, -3.5540199279785156], [8.224519729614258, 0.09357202053070068, -2.7607998847961426], [7.903989791870117, 0.09357202053070068, -0.2666899859905243]]", "geodesic_distance": 6.938437461853027, "gt_locations": "[[6.870639801025391, 0.09357202053070068, -6.311359882354736], [6.654133319854736, 0.09357202053070068, -6.186359882354736], [6.437626838684082, 0.09357202053070068, -6.061359882354736], [6.196145534515381, 0.09357202053070068, -5.996654987335205], [5.95466423034668, 0.09357202053070068, -5.931950092315674], [5.738157749176025, 0.09357202053070068, -5.806950092315674], [5.496676445007324, 0.09357202053070068, -5.742245197296143], [5.28016996383667, 0.09357202053070068, -5.617245197296143], [5.15516996383667, 0.09357202053070068, -5.400738716125488], [5.090465068817139, 0.09357202053070068, -5.159257411956787], [5.025760173797607, 0.09357202053070068, -4.917776107788086], [5.150760173797607, 0.09357202053070068, -4.701269626617432], [5.3275370597839355, 0.09357202053070068, -4.5244927406311035], [5.504313945770264, 0.09357202053070068, -4.347715854644775], [5.681090831756592, 0.09357202053070068, -4.170938968658447], [5.897597312927246, 0.09357202053070068, -4.045938968658447], [6.1141037940979, 0.09357202053070068, -3.9209389686584473], [6.2908806800842285, 0.09357202053070068, -3.7441623210906982], [6.507387161254883, 0.09357202053070068, -3.6191623210906982], [6.723893642425537, 0.09357202053070068, -3.4941623210906982], [6.940400123596191, 0.09357202053070068, -3.3691623210906982], [7.156906604766846, 0.09357202053070068, -3.2441623210906982], [7.3734130859375, 0.09357202053070068, -3.1191623210906982], [7.614894390106201, 0.09357202053070068, -3.054457664489746], [7.856375694274902, 0.09357202053070068, -2.989753007888794], [8.03315258026123, 0.09357202053070068, -2.812976360321045], [8.15815258026123, 0.09357202053070068, -2.5964698791503906], [8.222857475280762, 0.09357202053070068, -2.3549885749816895], [8.347857475280762, 0.09357202053070068, -2.1384823322296143], [8.366050720214844, 0.09357202053070068, -1.8884823322296143], [8.366050720214844, 0.09357202053070068, -1.6384823322296143], [8.301345825195312, 0.09357202053070068, -1.397000789642334], [8.236640930175781, 0.09357202053070068, -1.1555192470550537], [8.17193603515625, 0.09357202053070068, -0.9140377640724182], [8.107231140136719, 0.09357202053070068, -0.6725562810897827]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 2, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 306, "episode_id": "307", "scene_id": "ZMojNkEp431", "instruction": "Head around the table and go the main area left of the long table.  Go to the middle of the room next to the ping pong table and stop. ", "start_position": [6.870639801025391, 0.09357202053070068, -6.311359882354736], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [7.903989791870117, 0.09357202053070068, -0.2666899859905243], "goal_radius": 3.0, "reference_path": "[[6.870639801025391, 0.09357202053070068, -6.311359882354736], [4.894289970397949, 0.09357202053070068, -4.614099979400635], [6.5514397621154785, 0.09357202053070068, -3.5540199279785156], [8.224519729614258, 0.09357202053070068, -2.7607998847961426], [7.903989791870117, 0.09357202053070068, -0.2666899859905243]]", "geodesic_distance": 6.938437461853027, "gt_locations": "[[6.870639801025391, 0.09357202053070068, -6.311359882354736], [6.654133319854736, 0.09357202053070068, -6.186359882354736], [6.437626838684082, 0.09357202053070068, -6.061359882354736], [6.196145534515381, 0.09357202053070068, -5.996654987335205], [5.95466423034668, 0.09357202053070068, -5.931950092315674], [5.738157749176025, 0.09357202053070068, -5.806950092315674], [5.496676445007324, 0.09357202053070068, -5.742245197296143], [5.28016996383667, 0.09357202053070068, -5.617245197296143], [5.15516996383667, 0.09357202053070068, -5.400738716125488], [5.090465068817139, 0.09357202053070068, -5.159257411956787], [5.025760173797607, 0.09357202053070068, -4.917776107788086], [5.150760173797607, 0.09357202053070068, -4.701269626617432], [5.3275370597839355, 0.09357202053070068, -4.5244927406311035], [5.504313945770264, 0.09357202053070068, -4.347715854644775], [5.681090831756592, 0.09357202053070068, -4.170938968658447], [5.897597312927246, 0.09357202053070068, -4.045938968658447], [6.1141037940979, 0.09357202053070068, -3.9209389686584473], [6.2908806800842285, 0.09357202053070068, -3.7441623210906982], [6.507387161254883, 0.09357202053070068, -3.6191623210906982], [6.723893642425537, 0.09357202053070068, -3.4941623210906982], [6.940400123596191, 0.09357202053070068, -3.3691623210906982], [7.156906604766846, 0.09357202053070068, -3.2441623210906982], [7.3734130859375, 0.09357202053070068, -3.1191623210906982], [7.614894390106201, 0.09357202053070068, -3.054457664489746], [7.856375694274902, 0.09357202053070068, -2.989753007888794], [8.03315258026123, 0.09357202053070068, -2.812976360321045], [8.15815258026123, 0.09357202053070068, -2.5964698791503906], [8.222857475280762, 0.09357202053070068, -2.3549885749816895], [8.347857475280762, 0.09357202053070068, -2.1384823322296143], [8.366050720214844, 0.09357202053070068, -1.8884823322296143], [8.366050720214844, 0.09357202053070068, -1.6384823322296143], [8.301345825195312, 0.09357202053070068, -1.397000789642334], [8.236640930175781, 0.09357202053070068, -1.1555192470550537], [8.17193603515625, 0.09357202053070068, -0.9140377640724182], [8.107231140136719, 0.09357202053070068, -0.6725562810897827]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 2, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 307, "episode_id": "308", "scene_id": "i5noydFURQK", "instruction": "walk past the yellow chairs at the island, turn left towards the stairs, stop at the base of the stairs. ", "start_position": [-0.17535200715065002, -3.213176965713501, 6.126840114593506], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [2.7074499130249023, -3.213176965713501, 10.27970027923584], "goal_radius": 3.0, "reference_path": "[[-0.17535200715065002, -3.213176965713501, 6.126840114593506], [-0.08477649837732315, -3.213176965713501, 7.21028995513916], [-0.08899430185556412, -3.213176965713501, 8.76537036895752], [1.2829400300979614, -3.213176965713501, 10.119999885559082], [2.7074499130249023, -3.213176965713501, 10.27970027923584]]", "geodesic_distance": 5.8751420974731445, "gt_locations": "[[-0.17535200715065002, -3.213176965713501, 6.126840114593506], [-0.17535200715065002, -3.213176965713501, 6.376840114593506], [-0.17535200715065002, -3.213176965713501, 6.626840114593506], [-0.17535200715065002, -3.213176965713501, 6.876840114593506], [-0.17535200715065002, -3.213176965713501, 7.126840114593506], [-0.17535200715065002, -3.213176965713501, 7.376840114593506], [-0.17535200715065002, -3.213176965713501, 7.626840114593506], [-0.17535200715065002, -3.213176965713501, 7.876840114593506], [-0.11064723879098892, -3.213176965713501, 8.118321418762207], [-0.04594247043132782, -3.213176965713501, 8.359803199768066], [0.018762297928333282, -3.213176965713501, 8.601284980773926], [0.08346706628799438, -3.213176965713501, 8.842766761779785], [0.20846708118915558, -3.213176965713501, 9.059272766113281], [0.3334670960903168, -3.213176965713501, 9.275778770446777], [0.45846712589263916, -3.213176965713501, 9.492284774780273], [0.6166176795959473, -3.213176965713501, 9.697001457214355], [0.833124041557312, -3.213176965713501, 9.822001457214355], [1.0496304035186768, -3.213176965713501, 9.947001457214355], [1.291111946105957, -3.213176965713501, 10.011706352233887], [1.5325934886932373, -3.213176965713501, 10.076411247253418], [1.7740750312805176, -3.213176965713501, 10.14111614227295], [2.015556573867798, -3.213176965713501, 10.20582103729248], [2.257038116455078, -3.213176965713501, 10.270525932312012]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 308, "episode_id": "309", "scene_id": "i5noydFURQK", "instruction": "walk past the bar and turn left then go stand a the bottom of the stairs. ", "start_position": [-0.17535200715065002, -3.213176965713501, 6.126840114593506], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [2.7074499130249023, -3.213176965713501, 10.27970027923584], "goal_radius": 3.0, "reference_path": "[[-0.17535200715065002, -3.213176965713501, 6.126840114593506], [-0.08477649837732315, -3.213176965713501, 7.21028995513916], [-0.08899430185556412, -3.213176965713501, 8.76537036895752], [1.2829400300979614, -3.213176965713501, 10.119999885559082], [2.7074499130249023, -3.213176965713501, 10.27970027923584]]", "geodesic_distance": 5.8751420974731445, "gt_locations": "[[-0.17535200715065002, -3.213176965713501, 6.126840114593506], [-0.17535200715065002, -3.213176965713501, 6.376840114593506], [-0.17535200715065002, -3.213176965713501, 6.626840114593506], [-0.17535200715065002, -3.213176965713501, 6.876840114593506], [-0.17535200715065002, -3.213176965713501, 7.126840114593506], [-0.17535200715065002, -3.213176965713501, 7.376840114593506], [-0.17535200715065002, -3.213176965713501, 7.626840114593506], [-0.17535200715065002, -3.213176965713501, 7.876840114593506], [-0.11064723879098892, -3.213176965713501, 8.118321418762207], [-0.04594247043132782, -3.213176965713501, 8.359803199768066], [0.018762297928333282, -3.213176965713501, 8.601284980773926], [0.08346706628799438, -3.213176965713501, 8.842766761779785], [0.20846708118915558, -3.213176965713501, 9.059272766113281], [0.3334670960903168, -3.213176965713501, 9.275778770446777], [0.45846712589263916, -3.213176965713501, 9.492284774780273], [0.6166176795959473, -3.213176965713501, 9.697001457214355], [0.833124041557312, -3.213176965713501, 9.822001457214355], [1.0496304035186768, -3.213176965713501, 9.947001457214355], [1.291111946105957, -3.213176965713501, 10.011706352233887], [1.5325934886932373, -3.213176965713501, 10.076411247253418], [1.7740750312805176, -3.213176965713501, 10.14111614227295], [2.015556573867798, -3.213176965713501, 10.20582103729248], [2.257038116455078, -3.213176965713501, 10.270525932312012]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 309, "episode_id": "310", "scene_id": "i5noydFURQK", "instruction": "Walk across kitchen to the stairs. Stop at bottom of stairs. ", "start_position": [-0.17535200715065002, -3.213176965713501, 6.126840114593506], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [2.7074499130249023, -3.213176965713501, 10.27970027923584], "goal_radius": 3.0, "reference_path": "[[-0.17535200715065002, -3.213176965713501, 6.126840114593506], [-0.08477649837732315, -3.213176965713501, 7.21028995513916], [-0.08899430185556412, -3.213176965713501, 8.76537036895752], [1.2829400300979614, -3.213176965713501, 10.119999885559082], [2.7074499130249023, -3.213176965713501, 10.27970027923584]]", "geodesic_distance": 5.8751420974731445, "gt_locations": "[[-0.17535200715065002, -3.213176965713501, 6.126840114593506], [-0.17535200715065002, -3.213176965713501, 6.376840114593506], [-0.17535200715065002, -3.213176965713501, 6.626840114593506], [-0.17535200715065002, -3.213176965713501, 6.876840114593506], [-0.17535200715065002, -3.213176965713501, 7.126840114593506], [-0.17535200715065002, -3.213176965713501, 7.376840114593506], [-0.17535200715065002, -3.213176965713501, 7.626840114593506], [-0.17535200715065002, -3.213176965713501, 7.876840114593506], [-0.11064723879098892, -3.213176965713501, 8.118321418762207], [-0.04594247043132782, -3.213176965713501, 8.359803199768066], [0.018762297928333282, -3.213176965713501, 8.601284980773926], [0.08346706628799438, -3.213176965713501, 8.842766761779785], [0.20846708118915558, -3.213176965713501, 9.059272766113281], [0.3334670960903168, -3.213176965713501, 9.275778770446777], [0.45846712589263916, -3.213176965713501, 9.492284774780273], [0.6166176795959473, -3.213176965713501, 9.697001457214355], [0.833124041557312, -3.213176965713501, 9.822001457214355], [1.0496304035186768, -3.213176965713501, 9.947001457214355], [1.291111946105957, -3.213176965713501, 10.011706352233887], [1.5325934886932373, -3.213176965713501, 10.076411247253418], [1.7740750312805176, -3.213176965713501, 10.14111614227295], [2.015556573867798, -3.213176965713501, 10.20582103729248], [2.257038116455078, -3.213176965713501, 10.270525932312012]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 310, "episode_id": "311", "scene_id": "1LXtFkjw3qL", "instruction": "Walk down the hall and turn left before the potted plant. Walk to the top of the stairs going down. Go down the stairs and stop. ", "start_position": [3.1247000694274902, 0.0844111442565918, 9.206069946289062], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.4222400188446045, -2.301870822906494, 0.13255800306797028], "goal_radius": 3.0, "reference_path": "[[3.1247000694274902, 0.0844111442565918, 9.206069946289062], [3.0495901107788086, 0.0844111442565918, 7.014080047607422], [3.157449960708618, 0.0844111442565918, 5.194570064544678], [1.3406200408935547, 0.0844111442565918, 3.154449939727783], [1.31413996219635, -0.5705660581588745, 2.51131010055542], [1.3899799585342407, -1.4192103147506714, 1.628640055656433], [1.4222400188446045, -2.301870822906494, 0.13255800306797028]]", "geodesic_distance": 10.25112247467041, "gt_locations": "[[3.1247000694274902, 0.0844111442565918, 9.206069946289062], [3.1247000694274902, 0.0844111442565918, 8.956069946289062], [3.1247000694274902, 0.0844111442565918, 8.706069946289062], [3.1247000694274902, 0.0844111442565918, 8.456069946289062], [3.1247000694274902, 0.0844111442565918, 8.206069946289062], [3.1247000694274902, 0.0844111442565918, 7.9560699462890625], [3.1247000694274902, 0.0844111442565918, 7.7060699462890625], [3.1247000694274902, 0.0844111442565918, 7.4560699462890625], [3.1247000694274902, 0.0844111442565918, 7.2060699462890625], [3.1247000694274902, 0.0844111442565918, 6.9560699462890625], [3.1247000694274902, 0.0844111442565918, 6.7060699462890625], [3.1247000694274902, 0.0844111442565918, 6.4560699462890625], [3.1247000694274902, 0.0844111442565918, 6.2060699462890625], [3.1247000694274902, 0.0844111442565918, 5.9560699462890625], [3.1247000694274902, 0.0844111442565918, 5.7060699462890625], [3.1247000694274902, 0.0844111442565918, 5.4560699462890625], [2.9997000694274902, 0.0844111442565918, 5.239563465118408], [2.8747000694274902, 0.0844111442565918, 5.023056983947754], [2.7497000694274902, 0.0844111442565918, 4.8065505027771], [2.6247000694274902, 0.0844111442565918, 4.590044021606445], [2.4997000694274902, 0.0844111442565918, 4.373537540435791], [2.322923421859741, 0.0844111442565918, 4.196760654449463], [2.146146774291992, 0.0844111442565918, 4.019983768463135], [1.9693701267242432, 0.0844111442565918, 3.8432071208953857], [1.7925934791564941, 0.0844111442565918, 3.6664304733276367], [1.6739540100097656, 0.0844111442565918, 3.4164304733276367], [1.4971773624420166, 0.0844111442565918, 3.2396538257598877], [1.3204007148742676, -0.017134137451648712, 3.0628771781921387], [1.1954007148742676, -0.2514604926109314, 2.8463709354400635], [1.1239538192749023, -0.465999960899353, 2.6298646926879883], [1.1239538192749023, -0.6772255897521973, 2.413358449935913], [1.1239538192749023, -0.888451337814331, 2.196852207183838], [1.1239538192749023, -1.0996770858764648, 1.9803458452224731], [1.188658595085144, -1.329529881477356, 1.7388644218444824], [1.2533633708953857, -1.559382677078247, 1.4973829984664917], [1.3180681467056274, -1.7892355918884277, 1.255901575088501], [1.3827729225158691, -2.0190885066986084, 1.0144201517105103], [1.4474776983261108, -2.1757309436798096, 0.7729387283325195], [1.4474776983261108, -2.228492021560669, 0.5229387283325195]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 2, 2, 2, 1, 1, 3, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 311, "episode_id": "312", "scene_id": "1LXtFkjw3qL", "instruction": "Go straight towards the flower in the pot. Turn left right before the flower pot. Then turn right and go down the stairs. Stop at the bottom facing 2 doorways. ", "start_position": [3.1247000694274902, 0.0844111442565918, 9.206069946289062], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.4222400188446045, -2.301870822906494, 0.13255800306797028], "goal_radius": 3.0, "reference_path": "[[3.1247000694274902, 0.0844111442565918, 9.206069946289062], [3.0495901107788086, 0.0844111442565918, 7.014080047607422], [3.157449960708618, 0.0844111442565918, 5.194570064544678], [1.3406200408935547, 0.0844111442565918, 3.154449939727783], [1.31413996219635, -0.5705660581588745, 2.51131010055542], [1.3899799585342407, -1.4192103147506714, 1.628640055656433], [1.4222400188446045, -2.301870822906494, 0.13255800306797028]]", "geodesic_distance": 10.25112247467041, "gt_locations": "[[3.1247000694274902, 0.0844111442565918, 9.206069946289062], [3.1247000694274902, 0.0844111442565918, 8.956069946289062], [3.1247000694274902, 0.0844111442565918, 8.706069946289062], [3.1247000694274902, 0.0844111442565918, 8.456069946289062], [3.1247000694274902, 0.0844111442565918, 8.206069946289062], [3.1247000694274902, 0.0844111442565918, 7.9560699462890625], [3.1247000694274902, 0.0844111442565918, 7.7060699462890625], [3.1247000694274902, 0.0844111442565918, 7.4560699462890625], [3.1247000694274902, 0.0844111442565918, 7.2060699462890625], [3.1247000694274902, 0.0844111442565918, 6.9560699462890625], [3.1247000694274902, 0.0844111442565918, 6.7060699462890625], [3.1247000694274902, 0.0844111442565918, 6.4560699462890625], [3.1247000694274902, 0.0844111442565918, 6.2060699462890625], [3.1247000694274902, 0.0844111442565918, 5.9560699462890625], [3.1247000694274902, 0.0844111442565918, 5.7060699462890625], [3.1247000694274902, 0.0844111442565918, 5.4560699462890625], [2.9997000694274902, 0.0844111442565918, 5.239563465118408], [2.8747000694274902, 0.0844111442565918, 5.023056983947754], [2.7497000694274902, 0.0844111442565918, 4.8065505027771], [2.6247000694274902, 0.0844111442565918, 4.590044021606445], [2.4997000694274902, 0.0844111442565918, 4.373537540435791], [2.322923421859741, 0.0844111442565918, 4.196760654449463], [2.146146774291992, 0.0844111442565918, 4.019983768463135], [1.9693701267242432, 0.0844111442565918, 3.8432071208953857], [1.7925934791564941, 0.0844111442565918, 3.6664304733276367], [1.6739540100097656, 0.0844111442565918, 3.4164304733276367], [1.4971773624420166, 0.0844111442565918, 3.2396538257598877], [1.3204007148742676, -0.017134137451648712, 3.0628771781921387], [1.1954007148742676, -0.2514604926109314, 2.8463709354400635], [1.1239538192749023, -0.465999960899353, 2.6298646926879883], [1.1239538192749023, -0.6772255897521973, 2.413358449935913], [1.1239538192749023, -0.888451337814331, 2.196852207183838], [1.1239538192749023, -1.0996770858764648, 1.9803458452224731], [1.188658595085144, -1.329529881477356, 1.7388644218444824], [1.2533633708953857, -1.559382677078247, 1.4973829984664917], [1.3180681467056274, -1.7892355918884277, 1.255901575088501], [1.3827729225158691, -2.0190885066986084, 1.0144201517105103], [1.4474776983261108, -2.1757309436798096, 0.7729387283325195], [1.4474776983261108, -2.228492021560669, 0.5229387283325195]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 2, 2, 2, 1, 1, 3, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 312, "episode_id": "313", "scene_id": "1LXtFkjw3qL", "instruction": "Walk straight down the hallway. Turn left, then walk down the stairs on the right. Stop at the bottom of the staircase. ", "start_position": [3.1247000694274902, 0.0844111442565918, 9.206069946289062], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.4222400188446045, -2.301870822906494, 0.13255800306797028], "goal_radius": 3.0, "reference_path": "[[3.1247000694274902, 0.0844111442565918, 9.206069946289062], [3.0495901107788086, 0.0844111442565918, 7.014080047607422], [3.157449960708618, 0.0844111442565918, 5.194570064544678], [1.3406200408935547, 0.0844111442565918, 3.154449939727783], [1.31413996219635, -0.5705660581588745, 2.51131010055542], [1.3899799585342407, -1.4192103147506714, 1.628640055656433], [1.4222400188446045, -2.301870822906494, 0.13255800306797028]]", "geodesic_distance": 10.25112247467041, "gt_locations": "[[3.1247000694274902, 0.0844111442565918, 9.206069946289062], [3.1247000694274902, 0.0844111442565918, 8.956069946289062], [3.1247000694274902, 0.0844111442565918, 8.706069946289062], [3.1247000694274902, 0.0844111442565918, 8.456069946289062], [3.1247000694274902, 0.0844111442565918, 8.206069946289062], [3.1247000694274902, 0.0844111442565918, 7.9560699462890625], [3.1247000694274902, 0.0844111442565918, 7.7060699462890625], [3.1247000694274902, 0.0844111442565918, 7.4560699462890625], [3.1247000694274902, 0.0844111442565918, 7.2060699462890625], [3.1247000694274902, 0.0844111442565918, 6.9560699462890625], [3.1247000694274902, 0.0844111442565918, 6.7060699462890625], [3.1247000694274902, 0.0844111442565918, 6.4560699462890625], [3.1247000694274902, 0.0844111442565918, 6.2060699462890625], [3.1247000694274902, 0.0844111442565918, 5.9560699462890625], [3.1247000694274902, 0.0844111442565918, 5.7060699462890625], [3.1247000694274902, 0.0844111442565918, 5.4560699462890625], [2.9997000694274902, 0.0844111442565918, 5.239563465118408], [2.8747000694274902, 0.0844111442565918, 5.023056983947754], [2.7497000694274902, 0.0844111442565918, 4.8065505027771], [2.6247000694274902, 0.0844111442565918, 4.590044021606445], [2.4997000694274902, 0.0844111442565918, 4.373537540435791], [2.322923421859741, 0.0844111442565918, 4.196760654449463], [2.146146774291992, 0.0844111442565918, 4.019983768463135], [1.9693701267242432, 0.0844111442565918, 3.8432071208953857], [1.7925934791564941, 0.0844111442565918, 3.6664304733276367], [1.6739540100097656, 0.0844111442565918, 3.4164304733276367], [1.4971773624420166, 0.0844111442565918, 3.2396538257598877], [1.3204007148742676, -0.017134137451648712, 3.0628771781921387], [1.1954007148742676, -0.2514604926109314, 2.8463709354400635], [1.1239538192749023, -0.465999960899353, 2.6298646926879883], [1.1239538192749023, -0.6772255897521973, 2.413358449935913], [1.1239538192749023, -0.888451337814331, 2.196852207183838], [1.1239538192749023, -1.0996770858764648, 1.9803458452224731], [1.188658595085144, -1.329529881477356, 1.7388644218444824], [1.2533633708953857, -1.559382677078247, 1.4973829984664917], [1.3180681467056274, -1.7892355918884277, 1.255901575088501], [1.3827729225158691, -2.0190885066986084, 1.0144201517105103], [1.4474776983261108, -2.1757309436798096, 0.7729387283325195], [1.4474776983261108, -2.228492021560669, 0.5229387283325195]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 2, 2, 2, 1, 1, 3, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 313, "episode_id": "314", "scene_id": "sKLMLpTHeUy", "instruction": "walk away from the couch, down the hall, to the right of the table, walk into the kitchen and continue past the oven, turn right, walk down three stairs and stop. ", "start_position": [17.47170066833496, 2.9496591091156006, -3.622469902038574], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [8.79104995727539, 2.7183032035827637, -3.5602400302886963], "goal_radius": 3.0, "reference_path": "[[17.47170066833496, 2.9496591091156006, -3.622469902038574], [14.475099563598633, 2.9496591091156006, -2.016200065612793], [13.104599952697754, 2.9496591091156006, -1.9153599739074707], [12.07979965209961, 2.9496591091156006, -1.9104700088500977], [10.745800018310547, 2.9496591091156006, -1.8750100135803223], [8.839659690856934, 2.839709997177124, -3.0646400451660156], [8.79104995727539, 2.7183032035827637, -3.5602400302886963]]", "geodesic_distance": 9.376713752746582, "gt_locations": "[[17.47170066833496, 2.9496591091156006, -3.622469902038574], [17.25519371032715, 2.9496591091156006, -3.497469902038574], [17.038686752319336, 2.9496591091156006, -3.372469902038574], [16.822179794311523, 2.9496591091156006, -3.247469902038574], [16.60567283630371, 2.9496591091156006, -3.122469902038574], [16.3891658782959, 2.9496591091156006, -2.997469902038574], [16.172658920288086, 2.9496591091156006, -2.872469902038574], [15.95615291595459, 2.9496591091156006, -2.747469902038574], [15.739646911621094, 2.9496591091156006, -2.622469902038574], [15.523140907287598, 2.9496591091156006, -2.497469902038574], [15.306634902954102, 2.9496591091156006, -2.372469902038574], [15.090128898620605, 2.9496591091156006, -2.247469902038574], [14.848647117614746, 2.9496591091156006, -2.182765007019043], [14.607165336608887, 2.9496591091156006, -2.1180601119995117], [14.365683555603027, 2.9496591091156006, -2.0533552169799805], [14.124201774597168, 2.9496591091156006, -1.9886503219604492], [13.874201774597168, 2.9496591091156006, -1.9886503219604492], [13.624201774597168, 2.9496591091156006, -1.9886503219604492], [13.374201774597168, 2.9496591091156006, -1.9886503219604492], [13.124201774597168, 2.9496591091156006, -1.9886503219604492], [12.874201774597168, 2.9496591091156006, -1.9886503219604492], [12.624201774597168, 2.9496591091156006, -1.9886503219604492], [12.374201774597168, 2.9496591091156006, -1.9886503219604492], [12.124201774597168, 2.9496591091156006, -1.9886503219604492], [11.874201774597168, 2.9496591091156006, -1.9886503219604492], [11.624201774597168, 2.9496591091156006, -1.9886503219604492], [11.374201774597168, 2.9496591091156006, -1.9886503219604492], [11.132719993591309, 2.9496591091156006, -1.9239455461502075], [10.89123821258545, 2.9496591091156006, -1.9886503219604492], [10.64975643157959, 2.9496591091156006, -2.0533549785614014], [10.40827465057373, 2.9496591091156006, -2.1180596351623535], [10.191768646240234, 2.9496591091156006, -2.2430596351623535], [9.975262641906738, 2.9496591091156006, -2.3680596351623535], [9.733780860900879, 2.9496591091156006, -2.4327642917633057], [9.49229907989502, 2.9496591091156006, -2.497468948364258], [9.275793075561523, 2.9496591091156006, -2.622468948364258], [9.099016189575195, 2.9334161281585693, -2.799245595932007], [8.974016189575195, 2.867689371109009, -3.015751838684082], [8.849016189575195, 2.8019626140594482, -3.2322580814361572]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 3, 1, 3, 1, 1, 0]"}
{"id": 314, "episode_id": "315", "scene_id": "sKLMLpTHeUy", "instruction": "Walk towards the dining table, walk through the entryway into the kitchen, turn right, and wait. ", "start_position": [17.47170066833496, 2.9496591091156006, -3.622469902038574], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [8.79104995727539, 2.7183032035827637, -3.5602400302886963], "goal_radius": 3.0, "reference_path": "[[17.47170066833496, 2.9496591091156006, -3.622469902038574], [14.475099563598633, 2.9496591091156006, -2.016200065612793], [13.104599952697754, 2.9496591091156006, -1.9153599739074707], [12.07979965209961, 2.9496591091156006, -1.9104700088500977], [10.745800018310547, 2.9496591091156006, -1.8750100135803223], [8.839659690856934, 2.839709997177124, -3.0646400451660156], [8.79104995727539, 2.7183032035827637, -3.5602400302886963]]", "geodesic_distance": 9.376713752746582, "gt_locations": "[[17.47170066833496, 2.9496591091156006, -3.622469902038574], [17.25519371032715, 2.9496591091156006, -3.497469902038574], [17.038686752319336, 2.9496591091156006, -3.372469902038574], [16.822179794311523, 2.9496591091156006, -3.247469902038574], [16.60567283630371, 2.9496591091156006, -3.122469902038574], [16.3891658782959, 2.9496591091156006, -2.997469902038574], [16.172658920288086, 2.9496591091156006, -2.872469902038574], [15.95615291595459, 2.9496591091156006, -2.747469902038574], [15.739646911621094, 2.9496591091156006, -2.622469902038574], [15.523140907287598, 2.9496591091156006, -2.497469902038574], [15.306634902954102, 2.9496591091156006, -2.372469902038574], [15.090128898620605, 2.9496591091156006, -2.247469902038574], [14.848647117614746, 2.9496591091156006, -2.182765007019043], [14.607165336608887, 2.9496591091156006, -2.1180601119995117], [14.365683555603027, 2.9496591091156006, -2.0533552169799805], [14.124201774597168, 2.9496591091156006, -1.9886503219604492], [13.874201774597168, 2.9496591091156006, -1.9886503219604492], [13.624201774597168, 2.9496591091156006, -1.9886503219604492], [13.374201774597168, 2.9496591091156006, -1.9886503219604492], [13.124201774597168, 2.9496591091156006, -1.9886503219604492], [12.874201774597168, 2.9496591091156006, -1.9886503219604492], [12.624201774597168, 2.9496591091156006, -1.9886503219604492], [12.374201774597168, 2.9496591091156006, -1.9886503219604492], [12.124201774597168, 2.9496591091156006, -1.9886503219604492], [11.874201774597168, 2.9496591091156006, -1.9886503219604492], [11.624201774597168, 2.9496591091156006, -1.9886503219604492], [11.374201774597168, 2.9496591091156006, -1.9886503219604492], [11.132719993591309, 2.9496591091156006, -1.9239455461502075], [10.89123821258545, 2.9496591091156006, -1.9886503219604492], [10.64975643157959, 2.9496591091156006, -2.0533549785614014], [10.40827465057373, 2.9496591091156006, -2.1180596351623535], [10.191768646240234, 2.9496591091156006, -2.2430596351623535], [9.975262641906738, 2.9496591091156006, -2.3680596351623535], [9.733780860900879, 2.9496591091156006, -2.4327642917633057], [9.49229907989502, 2.9496591091156006, -2.497468948364258], [9.275793075561523, 2.9496591091156006, -2.622468948364258], [9.099016189575195, 2.9334161281585693, -2.799245595932007], [8.974016189575195, 2.867689371109009, -3.015751838684082], [8.849016189575195, 2.8019626140594482, -3.2322580814361572]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 3, 1, 3, 1, 1, 0]"}
{"id": 315, "episode_id": "316", "scene_id": "sKLMLpTHeUy", "instruction": "Turn around and start to walk down the long pathway of wood floor. Once you are halfway past the bar, turn right and stop at the top of the stairs. ", "start_position": [17.47170066833496, 2.9496591091156006, -3.622469902038574], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [8.79104995727539, 2.7183032035827637, -3.5602400302886963], "goal_radius": 3.0, "reference_path": "[[17.47170066833496, 2.9496591091156006, -3.622469902038574], [14.475099563598633, 2.9496591091156006, -2.016200065612793], [13.104599952697754, 2.9496591091156006, -1.9153599739074707], [12.07979965209961, 2.9496591091156006, -1.9104700088500977], [10.745800018310547, 2.9496591091156006, -1.8750100135803223], [8.839659690856934, 2.839709997177124, -3.0646400451660156], [8.79104995727539, 2.7183032035827637, -3.5602400302886963]]", "geodesic_distance": 9.376713752746582, "gt_locations": "[[17.47170066833496, 2.9496591091156006, -3.622469902038574], [17.25519371032715, 2.9496591091156006, -3.497469902038574], [17.038686752319336, 2.9496591091156006, -3.372469902038574], [16.822179794311523, 2.9496591091156006, -3.247469902038574], [16.60567283630371, 2.9496591091156006, -3.122469902038574], [16.3891658782959, 2.9496591091156006, -2.997469902038574], [16.172658920288086, 2.9496591091156006, -2.872469902038574], [15.95615291595459, 2.9496591091156006, -2.747469902038574], [15.739646911621094, 2.9496591091156006, -2.622469902038574], [15.523140907287598, 2.9496591091156006, -2.497469902038574], [15.306634902954102, 2.9496591091156006, -2.372469902038574], [15.090128898620605, 2.9496591091156006, -2.247469902038574], [14.848647117614746, 2.9496591091156006, -2.182765007019043], [14.607165336608887, 2.9496591091156006, -2.1180601119995117], [14.365683555603027, 2.9496591091156006, -2.0533552169799805], [14.124201774597168, 2.9496591091156006, -1.9886503219604492], [13.874201774597168, 2.9496591091156006, -1.9886503219604492], [13.624201774597168, 2.9496591091156006, -1.9886503219604492], [13.374201774597168, 2.9496591091156006, -1.9886503219604492], [13.124201774597168, 2.9496591091156006, -1.9886503219604492], [12.874201774597168, 2.9496591091156006, -1.9886503219604492], [12.624201774597168, 2.9496591091156006, -1.9886503219604492], [12.374201774597168, 2.9496591091156006, -1.9886503219604492], [12.124201774597168, 2.9496591091156006, -1.9886503219604492], [11.874201774597168, 2.9496591091156006, -1.9886503219604492], [11.624201774597168, 2.9496591091156006, -1.9886503219604492], [11.374201774597168, 2.9496591091156006, -1.9886503219604492], [11.132719993591309, 2.9496591091156006, -1.9239455461502075], [10.89123821258545, 2.9496591091156006, -1.9886503219604492], [10.64975643157959, 2.9496591091156006, -2.0533549785614014], [10.40827465057373, 2.9496591091156006, -2.1180596351623535], [10.191768646240234, 2.9496591091156006, -2.2430596351623535], [9.975262641906738, 2.9496591091156006, -2.3680596351623535], [9.733780860900879, 2.9496591091156006, -2.4327642917633057], [9.49229907989502, 2.9496591091156006, -2.497468948364258], [9.275793075561523, 2.9496591091156006, -2.622468948364258], [9.099016189575195, 2.9334161281585693, -2.799245595932007], [8.974016189575195, 2.867689371109009, -3.015751838684082], [8.849016189575195, 2.8019626140594482, -3.2322580814361572]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 3, 1, 3, 1, 1, 0]"}
{"id": 316, "episode_id": "317", "scene_id": "r47D5H71a5s", "instruction": "walk away from the pool, past the elevators, past the stairs and straight through the doorway to the left of the wicker chair, walk through the doorway straight ahead to the right. ", "start_position": [8.641420364379883, 0.09863299131393433, -1.4960099458694458], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-0.22695299983024597, 0.09863299131393433, -5.435009956359863], "goal_radius": 3.0, "reference_path": "[[8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [2.9013400077819824, 0.09863299131393433, -3.728480100631714], [0.8934239745140076, 0.09863299131393433, -5.379049777984619], [-0.22695299983024597, 0.09863299131393433, -5.435009956359863]]", "geodesic_distance": 9.82286262512207, "gt_locations": "[[8.641420364379883, 0.09863299131393433, -1.4960099458694458], [8.399938583374023, 0.09863299131393433, -1.5607147216796875], [8.149938583374023, 0.09863299131393433, -1.5607147216796875], [7.899938583374023, 0.09863299131393433, -1.5607147216796875], [7.658457279205322, 0.09863299131393433, -1.6254194974899292], [7.416975975036621, 0.09863299131393433, -1.690124273300171], [7.17549467086792, 0.09863299131393433, -1.7548290491104126], [6.934013366699219, 0.09863299131393433, -1.8195338249206543], [6.692532062530518, 0.09863299131393433, -1.884238600730896], [6.451050758361816, 0.09863299131393433, -1.9489433765411377], [6.201050758361816, 0.09863299131393433, -1.9489433765411377], [5.951050758361816, 0.09863299131393433, -1.9489433765411377], [5.701050758361816, 0.09863299131393433, -1.9489433765411377], [5.459569454193115, 0.09863299131393433, -2.01364803314209], [5.218088150024414, 0.11395534873008728, -2.078352689743042], [4.976606845855713, 0.15750443935394287, -2.143057346343994], [4.735125541687012, 0.16835521161556244, -2.2077620029449463], [4.518619060516357, 0.1781783103942871, -2.3327620029449463], [4.302112579345703, 0.18800139427185059, -2.4577620029449463], [4.125335693359375, 0.18868494033813477, -2.6345386505126953], [3.948559045791626, 0.15981993079185486, -2.8113152980804443], [3.771782398223877, 0.11602820456027985, -2.9880919456481934], [3.595005750656128, 0.09863299131393433, -3.1648685932159424], [3.3784995079040527, 0.09863299131393433, -3.2898685932159424], [3.2017228603363037, 0.09863299131393433, -3.4666452407836914], [3.0249462127685547, 0.09863299131393433, -3.6434218883514404], [2.8481695652008057, 0.09863299131393433, -3.8201985359191895], [2.6316633224487305, 0.09863299131393433, -3.9451985359191895], [2.4151570796966553, 0.09863299131393433, -4.0701985359191895], [2.19865083694458, 0.09863299131393433, -4.1951985359191895], [2.021874189376831, 0.09863299131393433, -4.371975421905518], [1.845097541809082, 0.09863299131393433, -4.548752307891846], [1.668320894241333, 0.09863299131393433, -4.725529193878174], [1.491544246673584, 0.09863299131393433, -4.902306079864502], [1.314767599105835, 0.09863299131393433, -5.07908296585083], [1.137990951538086, 0.09863299131393433, -5.255859851837158], [0.8965095281600952, 0.09863299131393433, -5.3205647468566895], [0.6550281047821045, 0.09863299131393433, -5.385269641876221], [0.4050281047821045, 0.09863299131393433, -5.385269641876221], [0.1550281047821045, 0.09863299131393433, -5.385269641876221]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 317, "episode_id": "318", "scene_id": "r47D5H71a5s", "instruction": "Turn 180 degrees and walk down the hall.  Walk past the stairs and keep going through the doorway.  Move to the right and walk through the right doorway.  Wait inside the door. ", "start_position": [8.641420364379883, 0.09863299131393433, -1.4960099458694458], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-0.22695299983024597, 0.09863299131393433, -5.435009956359863], "goal_radius": 3.0, "reference_path": "[[8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [2.9013400077819824, 0.09863299131393433, -3.728480100631714], [0.8934239745140076, 0.09863299131393433, -5.379049777984619], [-0.22695299983024597, 0.09863299131393433, -5.435009956359863]]", "geodesic_distance": 9.82286262512207, "gt_locations": "[[8.641420364379883, 0.09863299131393433, -1.4960099458694458], [8.399938583374023, 0.09863299131393433, -1.5607147216796875], [8.149938583374023, 0.09863299131393433, -1.5607147216796875], [7.899938583374023, 0.09863299131393433, -1.5607147216796875], [7.658457279205322, 0.09863299131393433, -1.6254194974899292], [7.416975975036621, 0.09863299131393433, -1.690124273300171], [7.17549467086792, 0.09863299131393433, -1.7548290491104126], [6.934013366699219, 0.09863299131393433, -1.8195338249206543], [6.692532062530518, 0.09863299131393433, -1.884238600730896], [6.451050758361816, 0.09863299131393433, -1.9489433765411377], [6.201050758361816, 0.09863299131393433, -1.9489433765411377], [5.951050758361816, 0.09863299131393433, -1.9489433765411377], [5.701050758361816, 0.09863299131393433, -1.9489433765411377], [5.459569454193115, 0.09863299131393433, -2.01364803314209], [5.218088150024414, 0.11395534873008728, -2.078352689743042], [4.976606845855713, 0.15750443935394287, -2.143057346343994], [4.735125541687012, 0.16835521161556244, -2.2077620029449463], [4.518619060516357, 0.1781783103942871, -2.3327620029449463], [4.302112579345703, 0.18800139427185059, -2.4577620029449463], [4.125335693359375, 0.18868494033813477, -2.6345386505126953], [3.948559045791626, 0.15981993079185486, -2.8113152980804443], [3.771782398223877, 0.11602820456027985, -2.9880919456481934], [3.595005750656128, 0.09863299131393433, -3.1648685932159424], [3.3784995079040527, 0.09863299131393433, -3.2898685932159424], [3.2017228603363037, 0.09863299131393433, -3.4666452407836914], [3.0249462127685547, 0.09863299131393433, -3.6434218883514404], [2.8481695652008057, 0.09863299131393433, -3.8201985359191895], [2.6316633224487305, 0.09863299131393433, -3.9451985359191895], [2.4151570796966553, 0.09863299131393433, -4.0701985359191895], [2.19865083694458, 0.09863299131393433, -4.1951985359191895], [2.021874189376831, 0.09863299131393433, -4.371975421905518], [1.845097541809082, 0.09863299131393433, -4.548752307891846], [1.668320894241333, 0.09863299131393433, -4.725529193878174], [1.491544246673584, 0.09863299131393433, -4.902306079864502], [1.314767599105835, 0.09863299131393433, -5.07908296585083], [1.137990951538086, 0.09863299131393433, -5.255859851837158], [0.8965095281600952, 0.09863299131393433, -5.3205647468566895], [0.6550281047821045, 0.09863299131393433, -5.385269641876221], [0.4050281047821045, 0.09863299131393433, -5.385269641876221], [0.1550281047821045, 0.09863299131393433, -5.385269641876221]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 318, "episode_id": "319", "scene_id": "r47D5H71a5s", "instruction": "Walk past the elevators towards the stairs, th,en past the stairs and through the door going slightly to the right. Then take the doorway again slightly to the right and go a little ways into the hall and wait. ", "start_position": [8.641420364379883, 0.09863299131393433, -1.4960099458694458], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-0.22695299983024597, 0.09863299131393433, -5.435009956359863], "goal_radius": 3.0, "reference_path": "[[8.641420364379883, 0.09863299131393433, -1.4960099458694458], [5.213389873504639, 0.09863299131393433, -2.0612599849700928], [3.9388198852539062, 0.19393226504325867, -2.592560052871704], [2.9013400077819824, 0.09863299131393433, -3.728480100631714], [0.8934239745140076, 0.09863299131393433, -5.379049777984619], [-0.22695299983024597, 0.09863299131393433, -5.435009956359863]]", "geodesic_distance": 9.82286262512207, "gt_locations": "[[8.641420364379883, 0.09863299131393433, -1.4960099458694458], [8.399938583374023, 0.09863299131393433, -1.5607147216796875], [8.149938583374023, 0.09863299131393433, -1.5607147216796875], [7.899938583374023, 0.09863299131393433, -1.5607147216796875], [7.658457279205322, 0.09863299131393433, -1.6254194974899292], [7.416975975036621, 0.09863299131393433, -1.690124273300171], [7.17549467086792, 0.09863299131393433, -1.7548290491104126], [6.934013366699219, 0.09863299131393433, -1.8195338249206543], [6.692532062530518, 0.09863299131393433, -1.884238600730896], [6.451050758361816, 0.09863299131393433, -1.9489433765411377], [6.201050758361816, 0.09863299131393433, -1.9489433765411377], [5.951050758361816, 0.09863299131393433, -1.9489433765411377], [5.701050758361816, 0.09863299131393433, -1.9489433765411377], [5.459569454193115, 0.09863299131393433, -2.01364803314209], [5.218088150024414, 0.11395534873008728, -2.078352689743042], [4.976606845855713, 0.15750443935394287, -2.143057346343994], [4.735125541687012, 0.16835521161556244, -2.2077620029449463], [4.518619060516357, 0.1781783103942871, -2.3327620029449463], [4.302112579345703, 0.18800139427185059, -2.4577620029449463], [4.125335693359375, 0.18868494033813477, -2.6345386505126953], [3.948559045791626, 0.15981993079185486, -2.8113152980804443], [3.771782398223877, 0.11602820456027985, -2.9880919456481934], [3.595005750656128, 0.09863299131393433, -3.1648685932159424], [3.3784995079040527, 0.09863299131393433, -3.2898685932159424], [3.2017228603363037, 0.09863299131393433, -3.4666452407836914], [3.0249462127685547, 0.09863299131393433, -3.6434218883514404], [2.8481695652008057, 0.09863299131393433, -3.8201985359191895], [2.6316633224487305, 0.09863299131393433, -3.9451985359191895], [2.4151570796966553, 0.09863299131393433, -4.0701985359191895], [2.19865083694458, 0.09863299131393433, -4.1951985359191895], [2.021874189376831, 0.09863299131393433, -4.371975421905518], [1.845097541809082, 0.09863299131393433, -4.548752307891846], [1.668320894241333, 0.09863299131393433, -4.725529193878174], [1.491544246673584, 0.09863299131393433, -4.902306079864502], [1.314767599105835, 0.09863299131393433, -5.07908296585083], [1.137990951538086, 0.09863299131393433, -5.255859851837158], [0.8965095281600952, 0.09863299131393433, -5.3205647468566895], [0.6550281047821045, 0.09863299131393433, -5.385269641876221], [0.4050281047821045, 0.09863299131393433, -5.385269641876221], [0.1550281047821045, 0.09863299131393433, -5.385269641876221]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 319, "episode_id": "320", "scene_id": "5LpN3gDmAk7", "instruction": "Walk through the doorway with the red painting behind you, follow the hallway to the left, and walk straight past the bed. Stop in front of the couch outside. ", "start_position": [4.091179847717285, 3.115649938583374, 5.629350185394287], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [12.252900123596191, 2.983177423477173, 10.994500160217285], "goal_radius": 3.0, "reference_path": "[[4.091179847717285, 3.115649938583374, 5.629350185394287], [4.156839847564697, 3.115649938583374, 6.658060073852539], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.788579940795898, 3.115649938583374, 10.096099853515625], [12.252900123596191, 2.983177423477173, 10.994500160217285]]", "geodesic_distance": 10.50157356262207, "gt_locations": "[[4.091179847717285, 3.115649938583374, 5.629350185394287], [4.091179847717285, 3.115649938583374, 5.879350185394287], [4.091179847717285, 3.115649938583374, 6.129350185394287], [4.091179847717285, 3.115649938583374, 6.379350185394287], [4.091179847717285, 3.115649938583374, 6.629350185394287], [4.091179847717285, 3.115649938583374, 6.879350185394287], [4.155884742736816, 3.115649938583374, 7.120831489562988], [4.3326616287231445, 3.115649938583374, 7.297608375549316], [4.509438514709473, 3.115649938583374, 7.4743852615356445], [4.686215400695801, 3.115649938583374, 7.651162147521973], [4.862992286682129, 3.115649938583374, 7.827939033508301], [4.987992286682129, 3.115649938583374, 8.044445037841797], [5.112992286682129, 3.115649938583374, 8.260951042175293], [5.289769172668457, 3.115649938583374, 8.437727928161621], [5.466546058654785, 3.115649938583374, 8.61450481414795], [5.6830525398254395, 3.115649938583374, 8.73950481414795], [5.899559020996094, 3.115649938583374, 8.86450481414795], [6.116065502166748, 3.115649938583374, 8.98950481414795], [6.332571983337402, 3.115649938583374, 9.11450481414795], [6.549078464508057, 3.115649938583374, 9.23950481414795], [6.765584945678711, 3.115649938583374, 9.36450481414795], [6.982091426849365, 3.115649938583374, 9.48950481414795], [7.1985979080200195, 3.115649938583374, 9.61450481414795], [7.415104389190674, 3.115649938583374, 9.73950481414795], [7.591881275177002, 3.115649938583374, 9.916281700134277], [7.833362579345703, 3.115649938583374, 9.980986595153809], [8.074844360351562, 3.115649938583374, 10.04569149017334], [8.316326141357422, 3.115649938583374, 10.110396385192871], [8.557807922363281, 3.115649938583374, 10.175101280212402], [8.79928970336914, 3.115649938583374, 10.239806175231934], [9.040771484375, 3.115649938583374, 10.304511070251465], [9.28225326538086, 3.115649938583374, 10.369215965270996], [9.523735046386719, 3.115649938583374, 10.433920860290527], [9.765216827392578, 3.115649938583374, 10.498625755310059], [10.006698608398438, 3.115649938583374, 10.56333065032959], [10.248180389404297, 3.115649938583374, 10.628035545349121], [10.489662170410156, 3.1312835216522217, 10.692740440368652], [10.731143951416016, 3.105071544647217, 10.757445335388184], [10.972625732421875, 3.0863773822784424, 10.822150230407715], [11.214107513427734, 3.067683219909668, 10.886855125427246], [11.455589294433594, 3.0489892959594727, 10.951560020446777], [11.705589294433594, 3.02803111076355, 10.951560020446777], [11.955589294433594, 3.007073163986206, 10.951560020446777]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 320, "episode_id": "321", "scene_id": "5LpN3gDmAk7", "instruction": "Move forward to the doorway until you see the art on the wall. Once there, change your direction and move onward towards the left. Continue your forward progress through the bedroom. Past the footstool on your left. Continue moving forward out on the balcony and come to a complete stop behind the couch. ", "start_position": [4.091179847717285, 3.115649938583374, 5.629350185394287], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [12.252900123596191, 2.983177423477173, 10.994500160217285], "goal_radius": 3.0, "reference_path": "[[4.091179847717285, 3.115649938583374, 5.629350185394287], [4.156839847564697, 3.115649938583374, 6.658060073852539], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.788579940795898, 3.115649938583374, 10.096099853515625], [12.252900123596191, 2.983177423477173, 10.994500160217285]]", "geodesic_distance": 10.50157356262207, "gt_locations": "[[4.091179847717285, 3.115649938583374, 5.629350185394287], [4.091179847717285, 3.115649938583374, 5.879350185394287], [4.091179847717285, 3.115649938583374, 6.129350185394287], [4.091179847717285, 3.115649938583374, 6.379350185394287], [4.091179847717285, 3.115649938583374, 6.629350185394287], [4.091179847717285, 3.115649938583374, 6.879350185394287], [4.155884742736816, 3.115649938583374, 7.120831489562988], [4.3326616287231445, 3.115649938583374, 7.297608375549316], [4.509438514709473, 3.115649938583374, 7.4743852615356445], [4.686215400695801, 3.115649938583374, 7.651162147521973], [4.862992286682129, 3.115649938583374, 7.827939033508301], [4.987992286682129, 3.115649938583374, 8.044445037841797], [5.112992286682129, 3.115649938583374, 8.260951042175293], [5.289769172668457, 3.115649938583374, 8.437727928161621], [5.466546058654785, 3.115649938583374, 8.61450481414795], [5.6830525398254395, 3.115649938583374, 8.73950481414795], [5.899559020996094, 3.115649938583374, 8.86450481414795], [6.116065502166748, 3.115649938583374, 8.98950481414795], [6.332571983337402, 3.115649938583374, 9.11450481414795], [6.549078464508057, 3.115649938583374, 9.23950481414795], [6.765584945678711, 3.115649938583374, 9.36450481414795], [6.982091426849365, 3.115649938583374, 9.48950481414795], [7.1985979080200195, 3.115649938583374, 9.61450481414795], [7.415104389190674, 3.115649938583374, 9.73950481414795], [7.591881275177002, 3.115649938583374, 9.916281700134277], [7.833362579345703, 3.115649938583374, 9.980986595153809], [8.074844360351562, 3.115649938583374, 10.04569149017334], [8.316326141357422, 3.115649938583374, 10.110396385192871], [8.557807922363281, 3.115649938583374, 10.175101280212402], [8.79928970336914, 3.115649938583374, 10.239806175231934], [9.040771484375, 3.115649938583374, 10.304511070251465], [9.28225326538086, 3.115649938583374, 10.369215965270996], [9.523735046386719, 3.115649938583374, 10.433920860290527], [9.765216827392578, 3.115649938583374, 10.498625755310059], [10.006698608398438, 3.115649938583374, 10.56333065032959], [10.248180389404297, 3.115649938583374, 10.628035545349121], [10.489662170410156, 3.1312835216522217, 10.692740440368652], [10.731143951416016, 3.105071544647217, 10.757445335388184], [10.972625732421875, 3.0863773822784424, 10.822150230407715], [11.214107513427734, 3.067683219909668, 10.886855125427246], [11.455589294433594, 3.0489892959594727, 10.951560020446777], [11.705589294433594, 3.02803111076355, 10.951560020446777], [11.955589294433594, 3.007073163986206, 10.951560020446777]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 321, "episode_id": "322", "scene_id": "5LpN3gDmAk7", "instruction": "Go through the doorway to the left of the stairs and down the hallway and into the bedroom.  Walk past the bed and onto the patio.  Stop after stepping outside. ", "start_position": [4.091179847717285, 3.115649938583374, 5.629350185394287], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [12.252900123596191, 2.983177423477173, 10.994500160217285], "goal_radius": 3.0, "reference_path": "[[4.091179847717285, 3.115649938583374, 5.629350185394287], [4.156839847564697, 3.115649938583374, 6.658060073852539], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.788579940795898, 3.115649938583374, 10.096099853515625], [12.252900123596191, 2.983177423477173, 10.994500160217285]]", "geodesic_distance": 10.50157356262207, "gt_locations": "[[4.091179847717285, 3.115649938583374, 5.629350185394287], [4.091179847717285, 3.115649938583374, 5.879350185394287], [4.091179847717285, 3.115649938583374, 6.129350185394287], [4.091179847717285, 3.115649938583374, 6.379350185394287], [4.091179847717285, 3.115649938583374, 6.629350185394287], [4.091179847717285, 3.115649938583374, 6.879350185394287], [4.155884742736816, 3.115649938583374, 7.120831489562988], [4.3326616287231445, 3.115649938583374, 7.297608375549316], [4.509438514709473, 3.115649938583374, 7.4743852615356445], [4.686215400695801, 3.115649938583374, 7.651162147521973], [4.862992286682129, 3.115649938583374, 7.827939033508301], [4.987992286682129, 3.115649938583374, 8.044445037841797], [5.112992286682129, 3.115649938583374, 8.260951042175293], [5.289769172668457, 3.115649938583374, 8.437727928161621], [5.466546058654785, 3.115649938583374, 8.61450481414795], [5.6830525398254395, 3.115649938583374, 8.73950481414795], [5.899559020996094, 3.115649938583374, 8.86450481414795], [6.116065502166748, 3.115649938583374, 8.98950481414795], [6.332571983337402, 3.115649938583374, 9.11450481414795], [6.549078464508057, 3.115649938583374, 9.23950481414795], [6.765584945678711, 3.115649938583374, 9.36450481414795], [6.982091426849365, 3.115649938583374, 9.48950481414795], [7.1985979080200195, 3.115649938583374, 9.61450481414795], [7.415104389190674, 3.115649938583374, 9.73950481414795], [7.591881275177002, 3.115649938583374, 9.916281700134277], [7.833362579345703, 3.115649938583374, 9.980986595153809], [8.074844360351562, 3.115649938583374, 10.04569149017334], [8.316326141357422, 3.115649938583374, 10.110396385192871], [8.557807922363281, 3.115649938583374, 10.175101280212402], [8.79928970336914, 3.115649938583374, 10.239806175231934], [9.040771484375, 3.115649938583374, 10.304511070251465], [9.28225326538086, 3.115649938583374, 10.369215965270996], [9.523735046386719, 3.115649938583374, 10.433920860290527], [9.765216827392578, 3.115649938583374, 10.498625755310059], [10.006698608398438, 3.115649938583374, 10.56333065032959], [10.248180389404297, 3.115649938583374, 10.628035545349121], [10.489662170410156, 3.1312835216522217, 10.692740440368652], [10.731143951416016, 3.105071544647217, 10.757445335388184], [10.972625732421875, 3.0863773822784424, 10.822150230407715], [11.214107513427734, 3.067683219909668, 10.886855125427246], [11.455589294433594, 3.0489892959594727, 10.951560020446777], [11.705589294433594, 3.02803111076355, 10.951560020446777], [11.955589294433594, 3.007073163986206, 10.951560020446777]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 322, "episode_id": "323", "scene_id": "V2XKFyX4ASd", "instruction": "Walk straight and exit out the door to your right. Once in the room, walk to the left of the pool table and keep walking left until you reach a bedroom door. Stop at the doorway looking into the room. ", "start_position": [8.263750076293945, 2.9030959606170654, 2.2895898818969727], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.3150599002838135, 2.9030959606170654, -6.148950099945068], "goal_radius": 3.0, "reference_path": "[[8.263750076293945, 2.9030959606170654, 2.2895898818969727], [5.3691301345825195, 2.9030959606170654, 1.6297600269317627], [5.419760227203369, 2.9030959606170654, 0.6707080006599426], [3.963860034942627, 2.989926338195801, -1.3911900520324707], [3.129499912261963, 2.9030959606170654, -2.7811501026153564], [2.49042010307312, 2.9030959606170654, -4.905179977416992], [2.3150599002838135, 2.9030959606170654, -6.148950099945068]]", "geodesic_distance": 11.240426063537598, "gt_locations": "[[8.263750076293945, 2.9030959606170654, 2.2895898818969727], [8.013750076293945, 2.9030959606170654, 2.2895898818969727], [7.763750076293945, 2.9030959606170654, 2.2895898818969727], [7.513750076293945, 2.9030959606170654, 2.2895898818969727], [7.272268772125244, 2.9030959606170654, 2.2248852252960205], [7.022268772125244, 2.9030959606170654, 2.2248852252960205], [6.772268772125244, 2.9030959606170654, 2.2248852252960205], [6.522268772125244, 2.9030959606170654, 2.2248852252960205], [6.30576229095459, 2.9030959606170654, 2.0998852252960205], [6.101984024047852, 2.918724298477173, 1.9251086711883545], [5.885477542877197, 2.9030959606170654, 1.8001086711883545], [5.643996238708496, 2.9030959606170654, 1.7354038953781128], [5.579291343688965, 2.9030959606170654, 1.493922472000122], [5.514586448669434, 2.9030959606170654, 1.2524410486221313], [5.449881553649902, 2.9030959606170654, 1.0109596252441406], [5.324881553649902, 2.9030959606170654, 0.7944532632827759], [5.199881553649902, 2.9030959606170654, 0.5779469013214111], [5.135176658630371, 2.9030959606170654, 0.336465448141098], [5.010176658630371, 2.9030959606170654, 0.11995911598205566], [4.885176658630371, 2.9030959606170654, -0.0965472161769867], [4.760176658630371, 2.9030959606170654, -0.31305354833602905], [4.635176658630371, 2.9260447025299072, -0.529559850692749], [4.510176658630371, 2.9472365379333496, -0.7460662126541138], [4.333399772644043, 2.96073579788208, -0.9228428602218628], [4.156622886657715, 2.9742350578308105, -1.0996195077896118], [4.031622886657715, 2.9771196842193604, -1.3161258697509766], [3.906622886657715, 3.0135066509246826, -1.5326322317123413], [3.781622886657715, 3.0490331649780273, -1.749138593673706], [3.656622886657715, 3.0067601203918457, -1.9656449556350708], [3.531622886657715, 2.9387366771698, -2.1821513175964355], [3.406622886657715, 2.9030959606170654, -2.3986575603485107], [3.3419179916381836, 2.9030959606170654, -2.640139102935791], [3.2772130966186523, 2.9030959606170654, -2.8816206455230713], [3.212508201599121, 2.9030959606170654, -3.1231021881103516], [3.14780330657959, 2.9030959606170654, -3.364583730697632], [3.0830984115600586, 2.9030959606170654, -3.606065273284912], [3.0183935165405273, 2.9030959606170654, -3.8475468158721924], [2.8933935165405273, 2.9030959606170654, -4.064053058624268], [2.7683935165405273, 2.9030959606170654, -4.280559539794922], [2.6433935165405273, 2.9030959606170654, -4.497066020965576], [2.578688621520996, 2.9030959606170654, -4.738547325134277], [2.513983726501465, 2.9030959606170654, -4.9800286293029785], [2.4492788314819336, 2.9030959606170654, -5.22150993347168], [2.3845739364624023, 2.9030959606170654, -5.462991237640381], [2.319869041442871, 2.9030959606170654, -5.704472541809082]]", "gt_actions": "[1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 3, 1, 3, 1, 2, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 323, "episode_id": "324", "scene_id": "V2XKFyX4ASd", "instruction": "Walk past the tub and turn right.  Walk through the door.  Walk past the pool table.  Wait in the doorway. ", "start_position": [8.263750076293945, 2.9030959606170654, 2.2895898818969727], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.3150599002838135, 2.9030959606170654, -6.148950099945068], "goal_radius": 3.0, "reference_path": "[[8.263750076293945, 2.9030959606170654, 2.2895898818969727], [5.3691301345825195, 2.9030959606170654, 1.6297600269317627], [5.419760227203369, 2.9030959606170654, 0.6707080006599426], [3.963860034942627, 2.989926338195801, -1.3911900520324707], [3.129499912261963, 2.9030959606170654, -2.7811501026153564], [2.49042010307312, 2.9030959606170654, -4.905179977416992], [2.3150599002838135, 2.9030959606170654, -6.148950099945068]]", "geodesic_distance": 11.240426063537598, "gt_locations": "[[8.263750076293945, 2.9030959606170654, 2.2895898818969727], [8.013750076293945, 2.9030959606170654, 2.2895898818969727], [7.763750076293945, 2.9030959606170654, 2.2895898818969727], [7.513750076293945, 2.9030959606170654, 2.2895898818969727], [7.272268772125244, 2.9030959606170654, 2.2248852252960205], [7.022268772125244, 2.9030959606170654, 2.2248852252960205], [6.772268772125244, 2.9030959606170654, 2.2248852252960205], [6.522268772125244, 2.9030959606170654, 2.2248852252960205], [6.30576229095459, 2.9030959606170654, 2.0998852252960205], [6.101984024047852, 2.918724298477173, 1.9251086711883545], [5.885477542877197, 2.9030959606170654, 1.8001086711883545], [5.643996238708496, 2.9030959606170654, 1.7354038953781128], [5.579291343688965, 2.9030959606170654, 1.493922472000122], [5.514586448669434, 2.9030959606170654, 1.2524410486221313], [5.449881553649902, 2.9030959606170654, 1.0109596252441406], [5.324881553649902, 2.9030959606170654, 0.7944532632827759], [5.199881553649902, 2.9030959606170654, 0.5779469013214111], [5.135176658630371, 2.9030959606170654, 0.336465448141098], [5.010176658630371, 2.9030959606170654, 0.11995911598205566], [4.885176658630371, 2.9030959606170654, -0.0965472161769867], [4.760176658630371, 2.9030959606170654, -0.31305354833602905], [4.635176658630371, 2.9260447025299072, -0.529559850692749], [4.510176658630371, 2.9472365379333496, -0.7460662126541138], [4.333399772644043, 2.96073579788208, -0.9228428602218628], [4.156622886657715, 2.9742350578308105, -1.0996195077896118], [4.031622886657715, 2.9771196842193604, -1.3161258697509766], [3.906622886657715, 3.0135066509246826, -1.5326322317123413], [3.781622886657715, 3.0490331649780273, -1.749138593673706], [3.656622886657715, 3.0067601203918457, -1.9656449556350708], [3.531622886657715, 2.9387366771698, -2.1821513175964355], [3.406622886657715, 2.9030959606170654, -2.3986575603485107], [3.3419179916381836, 2.9030959606170654, -2.640139102935791], [3.2772130966186523, 2.9030959606170654, -2.8816206455230713], [3.212508201599121, 2.9030959606170654, -3.1231021881103516], [3.14780330657959, 2.9030959606170654, -3.364583730697632], [3.0830984115600586, 2.9030959606170654, -3.606065273284912], [3.0183935165405273, 2.9030959606170654, -3.8475468158721924], [2.8933935165405273, 2.9030959606170654, -4.064053058624268], [2.7683935165405273, 2.9030959606170654, -4.280559539794922], [2.6433935165405273, 2.9030959606170654, -4.497066020965576], [2.578688621520996, 2.9030959606170654, -4.738547325134277], [2.513983726501465, 2.9030959606170654, -4.9800286293029785], [2.4492788314819336, 2.9030959606170654, -5.22150993347168], [2.3845739364624023, 2.9030959606170654, -5.462991237640381], [2.319869041442871, 2.9030959606170654, -5.704472541809082]]", "gt_actions": "[1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 3, 1, 3, 1, 2, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 324, "episode_id": "325", "scene_id": "V2XKFyX4ASd", "instruction": "Go to the foot of the bed. Go through the door across from the bed. Go between the pool table and the couch. Go to the open doorway. ", "start_position": [8.263750076293945, 2.9030959606170654, 2.2895898818969727], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.3150599002838135, 2.9030959606170654, -6.148950099945068], "goal_radius": 3.0, "reference_path": "[[8.263750076293945, 2.9030959606170654, 2.2895898818969727], [5.3691301345825195, 2.9030959606170654, 1.6297600269317627], [5.419760227203369, 2.9030959606170654, 0.6707080006599426], [3.963860034942627, 2.989926338195801, -1.3911900520324707], [3.129499912261963, 2.9030959606170654, -2.7811501026153564], [2.49042010307312, 2.9030959606170654, -4.905179977416992], [2.3150599002838135, 2.9030959606170654, -6.148950099945068]]", "geodesic_distance": 11.240426063537598, "gt_locations": "[[8.263750076293945, 2.9030959606170654, 2.2895898818969727], [8.013750076293945, 2.9030959606170654, 2.2895898818969727], [7.763750076293945, 2.9030959606170654, 2.2895898818969727], [7.513750076293945, 2.9030959606170654, 2.2895898818969727], [7.272268772125244, 2.9030959606170654, 2.2248852252960205], [7.022268772125244, 2.9030959606170654, 2.2248852252960205], [6.772268772125244, 2.9030959606170654, 2.2248852252960205], [6.522268772125244, 2.9030959606170654, 2.2248852252960205], [6.30576229095459, 2.9030959606170654, 2.0998852252960205], [6.101984024047852, 2.918724298477173, 1.9251086711883545], [5.885477542877197, 2.9030959606170654, 1.8001086711883545], [5.643996238708496, 2.9030959606170654, 1.7354038953781128], [5.579291343688965, 2.9030959606170654, 1.493922472000122], [5.514586448669434, 2.9030959606170654, 1.2524410486221313], [5.449881553649902, 2.9030959606170654, 1.0109596252441406], [5.324881553649902, 2.9030959606170654, 0.7944532632827759], [5.199881553649902, 2.9030959606170654, 0.5779469013214111], [5.135176658630371, 2.9030959606170654, 0.336465448141098], [5.010176658630371, 2.9030959606170654, 0.11995911598205566], [4.885176658630371, 2.9030959606170654, -0.0965472161769867], [4.760176658630371, 2.9030959606170654, -0.31305354833602905], [4.635176658630371, 2.9260447025299072, -0.529559850692749], [4.510176658630371, 2.9472365379333496, -0.7460662126541138], [4.333399772644043, 2.96073579788208, -0.9228428602218628], [4.156622886657715, 2.9742350578308105, -1.0996195077896118], [4.031622886657715, 2.9771196842193604, -1.3161258697509766], [3.906622886657715, 3.0135066509246826, -1.5326322317123413], [3.781622886657715, 3.0490331649780273, -1.749138593673706], [3.656622886657715, 3.0067601203918457, -1.9656449556350708], [3.531622886657715, 2.9387366771698, -2.1821513175964355], [3.406622886657715, 2.9030959606170654, -2.3986575603485107], [3.3419179916381836, 2.9030959606170654, -2.640139102935791], [3.2772130966186523, 2.9030959606170654, -2.8816206455230713], [3.212508201599121, 2.9030959606170654, -3.1231021881103516], [3.14780330657959, 2.9030959606170654, -3.364583730697632], [3.0830984115600586, 2.9030959606170654, -3.606065273284912], [3.0183935165405273, 2.9030959606170654, -3.8475468158721924], [2.8933935165405273, 2.9030959606170654, -4.064053058624268], [2.7683935165405273, 2.9030959606170654, -4.280559539794922], [2.6433935165405273, 2.9030959606170654, -4.497066020965576], [2.578688621520996, 2.9030959606170654, -4.738547325134277], [2.513983726501465, 2.9030959606170654, -4.9800286293029785], [2.4492788314819336, 2.9030959606170654, -5.22150993347168], [2.3845739364624023, 2.9030959606170654, -5.462991237640381], [2.319869041442871, 2.9030959606170654, -5.704472541809082]]", "gt_actions": "[1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 3, 1, 3, 1, 2, 1, 2, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 325, "episode_id": "326", "scene_id": "17DRP5sb8fy", "instruction": "Turn to the left and walk through the living room to the breakfast bar and dinning room. Walk through the dinning room and to the dark framed door on the left side of an alcove. Walk to the entrance of the dark framed door that opens to a gold seating area. ", "start_position": [-6.384980201721191, 0.07244700193405151, -2.094789981842041], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [1.593459963798523, 0.07244700193405151, -0.4807080030441284], "goal_radius": 3.0, "reference_path": "[[-6.384980201721191, 0.07244700193405151, -2.094789981842041], [-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-3.1296799182891846, 0.07244700193405151, -1.4360400438308716], [-2.289259910583496, 0.07244700193405151, -1.3728400468826294], [-1.6541099548339844, 0.07244700193405151, -1.3889000415802002], [0.07482189685106277, 0.07244700193405151, 0.00036012398777529597], [1.593459963798523, 0.07244700193405151, -0.4807080030441284]]", "geodesic_distance": 8.25537395477295, "gt_locations": "[[-6.384980201721191, 0.07244700193405151, -2.094789981842041], [-6.14349889755249, 0.07244700193405151, -2.030085325241089], [-5.902017593383789, 0.07244700193405151, -1.9653805494308472], [-5.660536289215088, 0.07244700193405151, -1.9006757736206055], [-5.419054985046387, 0.07244700193405151, -1.8359709978103638], [-5.1775736808776855, 0.07244700193405151, -1.771266222000122], [-4.936092376708984, 0.07244700193405151, -1.7065614461898804], [-4.694611072540283, 0.07244700193405151, -1.6418566703796387], [-4.453129768371582, 0.07244700193405151, -1.577151894569397], [-4.211648464202881, 0.07244700193405151, -1.5124471187591553], [-3.961648464202881, 0.07244700193405151, -1.5124471187591553], [-3.711648464202881, 0.07244700193405151, -1.5124471187591553], [-3.461648464202881, 0.07244700193405151, -1.5124471187591553], [-3.211648464202881, 0.07244700193405151, -1.5124471187591553], [-2.961648464202881, 0.07244700193405151, -1.5124471187591553], [-2.7201669216156006, 0.07244700193405151, -1.4477423429489136], [-2.4701669216156006, 0.07244700193405151, -1.4477423429489136], [-2.2201669216156006, 0.07244700193405151, -1.4477423429489136], [-1.9701669216156006, 0.07244700193405151, -1.4477423429489136], [-1.7536605596542358, 0.07244700193405151, -1.3227423429489136], [-1.537154197692871, 0.07244700193405151, -1.1977423429489136], [-1.3206478357315063, 0.07244700193405151, -1.0727423429489136], [-1.1041414737701416, 0.07244700193405151, -0.9477423429489136], [-0.8876351118087769, 0.07244700193405151, -0.8227423429489136], [-0.6711287498474121, 0.07244700193405151, -0.6977423429489136], [-0.454622358083725, 0.07244700193405151, -0.5727423429489136], [-0.2778456211090088, 0.07244700193405151, -0.39596572518348694], [-0.1010688990354538, 0.07244700193405151, -0.2191891074180603], [0.148931086063385, 0.07244700193405151, -0.21918915212154388], [0.398931086063385, 0.07244700193405151, -0.21918919682502747], [0.648931086063385, 0.07244700193405151, -0.21918924152851105], [0.898931086063385, 0.07244700193405151, -0.21918928623199463], [1.1404125690460205, 0.07244700193405151, -0.28389406204223633]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 326, "episode_id": "327", "scene_id": "17DRP5sb8fy", "instruction": "Turn left and go passed the painting. Continue passed the bar and turn right and then go through the left doorway. ", "start_position": [-6.384980201721191, 0.07244700193405151, -2.094789981842041], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [1.593459963798523, 0.07244700193405151, -0.4807080030441284], "goal_radius": 3.0, "reference_path": "[[-6.384980201721191, 0.07244700193405151, -2.094789981842041], [-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-3.1296799182891846, 0.07244700193405151, -1.4360400438308716], [-2.289259910583496, 0.07244700193405151, -1.3728400468826294], [-1.6541099548339844, 0.07244700193405151, -1.3889000415802002], [0.07482189685106277, 0.07244700193405151, 0.00036012398777529597], [1.593459963798523, 0.07244700193405151, -0.4807080030441284]]", "geodesic_distance": 8.25537395477295, "gt_locations": "[[-6.384980201721191, 0.07244700193405151, -2.094789981842041], [-6.14349889755249, 0.07244700193405151, -2.030085325241089], [-5.902017593383789, 0.07244700193405151, -1.9653805494308472], [-5.660536289215088, 0.07244700193405151, -1.9006757736206055], [-5.419054985046387, 0.07244700193405151, -1.8359709978103638], [-5.1775736808776855, 0.07244700193405151, -1.771266222000122], [-4.936092376708984, 0.07244700193405151, -1.7065614461898804], [-4.694611072540283, 0.07244700193405151, -1.6418566703796387], [-4.453129768371582, 0.07244700193405151, -1.577151894569397], [-4.211648464202881, 0.07244700193405151, -1.5124471187591553], [-3.961648464202881, 0.07244700193405151, -1.5124471187591553], [-3.711648464202881, 0.07244700193405151, -1.5124471187591553], [-3.461648464202881, 0.07244700193405151, -1.5124471187591553], [-3.211648464202881, 0.07244700193405151, -1.5124471187591553], [-2.961648464202881, 0.07244700193405151, -1.5124471187591553], [-2.7201669216156006, 0.07244700193405151, -1.4477423429489136], [-2.4701669216156006, 0.07244700193405151, -1.4477423429489136], [-2.2201669216156006, 0.07244700193405151, -1.4477423429489136], [-1.9701669216156006, 0.07244700193405151, -1.4477423429489136], [-1.7536605596542358, 0.07244700193405151, -1.3227423429489136], [-1.537154197692871, 0.07244700193405151, -1.1977423429489136], [-1.3206478357315063, 0.07244700193405151, -1.0727423429489136], [-1.1041414737701416, 0.07244700193405151, -0.9477423429489136], [-0.8876351118087769, 0.07244700193405151, -0.8227423429489136], [-0.6711287498474121, 0.07244700193405151, -0.6977423429489136], [-0.454622358083725, 0.07244700193405151, -0.5727423429489136], [-0.2778456211090088, 0.07244700193405151, -0.39596572518348694], [-0.1010688990354538, 0.07244700193405151, -0.2191891074180603], [0.148931086063385, 0.07244700193405151, -0.21918915212154388], [0.398931086063385, 0.07244700193405151, -0.21918919682502747], [0.648931086063385, 0.07244700193405151, -0.21918924152851105], [0.898931086063385, 0.07244700193405151, -0.21918928623199463], [1.1404125690460205, 0.07244700193405151, -0.28389406204223633]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 327, "episode_id": "328", "scene_id": "17DRP5sb8fy", "instruction": "Walk past  living room, walk past dining room, turn right, wait by gold room. ", "start_position": [-6.384980201721191, 0.07244700193405151, -2.094789981842041], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [1.593459963798523, 0.07244700193405151, -0.4807080030441284], "goal_radius": 3.0, "reference_path": "[[-6.384980201721191, 0.07244700193405151, -2.094789981842041], [-4.333799839019775, 0.07244700193405151, -1.4684200286865234], [-3.1296799182891846, 0.07244700193405151, -1.4360400438308716], [-2.289259910583496, 0.07244700193405151, -1.3728400468826294], [-1.6541099548339844, 0.07244700193405151, -1.3889000415802002], [0.07482189685106277, 0.07244700193405151, 0.00036012398777529597], [1.593459963798523, 0.07244700193405151, -0.4807080030441284]]", "geodesic_distance": 8.25537395477295, "gt_locations": "[[-6.384980201721191, 0.07244700193405151, -2.094789981842041], [-6.14349889755249, 0.07244700193405151, -2.030085325241089], [-5.902017593383789, 0.07244700193405151, -1.9653805494308472], [-5.660536289215088, 0.07244700193405151, -1.9006757736206055], [-5.419054985046387, 0.07244700193405151, -1.8359709978103638], [-5.1775736808776855, 0.07244700193405151, -1.771266222000122], [-4.936092376708984, 0.07244700193405151, -1.7065614461898804], [-4.694611072540283, 0.07244700193405151, -1.6418566703796387], [-4.453129768371582, 0.07244700193405151, -1.577151894569397], [-4.211648464202881, 0.07244700193405151, -1.5124471187591553], [-3.961648464202881, 0.07244700193405151, -1.5124471187591553], [-3.711648464202881, 0.07244700193405151, -1.5124471187591553], [-3.461648464202881, 0.07244700193405151, -1.5124471187591553], [-3.211648464202881, 0.07244700193405151, -1.5124471187591553], [-2.961648464202881, 0.07244700193405151, -1.5124471187591553], [-2.7201669216156006, 0.07244700193405151, -1.4477423429489136], [-2.4701669216156006, 0.07244700193405151, -1.4477423429489136], [-2.2201669216156006, 0.07244700193405151, -1.4477423429489136], [-1.9701669216156006, 0.07244700193405151, -1.4477423429489136], [-1.7536605596542358, 0.07244700193405151, -1.3227423429489136], [-1.537154197692871, 0.07244700193405151, -1.1977423429489136], [-1.3206478357315063, 0.07244700193405151, -1.0727423429489136], [-1.1041414737701416, 0.07244700193405151, -0.9477423429489136], [-0.8876351118087769, 0.07244700193405151, -0.8227423429489136], [-0.6711287498474121, 0.07244700193405151, -0.6977423429489136], [-0.454622358083725, 0.07244700193405151, -0.5727423429489136], [-0.2778456211090088, 0.07244700193405151, -0.39596572518348694], [-0.1010688990354538, 0.07244700193405151, -0.2191891074180603], [0.148931086063385, 0.07244700193405151, -0.21918915212154388], [0.398931086063385, 0.07244700193405151, -0.21918919682502747], [0.648931086063385, 0.07244700193405151, -0.21918924152851105], [0.898931086063385, 0.07244700193405151, -0.21918928623199463], [1.1404125690460205, 0.07244700193405151, -0.28389406204223633]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 328, "episode_id": "329", "scene_id": "ULsKaCPVFJR", "instruction": "Leave the bedroom and go straight. Take the first left into a new hallway. Stop in the doorway of the bathroom. ", "start_position": [6.516180038452148, 0.08356200158596039, 6.847030162811279], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "goal_radius": 3.0, "reference_path": "[[6.516180038452148, 0.08356200158596039, 6.847030162811279], [6.072999954223633, 0.08356200158596039, 6.221320152282715], [5.782479763031006, 0.08356200158596039, 5.960060119628906], [4.713200092315674, 0.08356200158596039, 4.8334197998046875], [3.9238998889923096, 0.08356200158596039, 4.04433012008667], [3.4707400798797607, 0.08356200158596039, 5.586850166320801]]", "geodesic_distance": 4.436363697052002, "gt_locations": "[[6.516180038452148, 0.08356200158596039, 6.847030162811279], [6.391180038452148, 0.08356200158596039, 6.630523681640625], [6.21440315246582, 0.08356200158596039, 6.453746795654297], [6.037626266479492, 0.08356200158596039, 6.276969909667969], [5.860849380493164, 0.08356200158596039, 6.100193023681641], [5.684072494506836, 0.08356200158596039, 5.9234161376953125], [5.507295608520508, 0.08356200158596039, 5.746639251708984], [5.33051872253418, 0.08583645522594452, 5.569862365722656], [5.153741836547852, 0.08356200158596039, 5.393085479736328], [4.976964950561523, 0.08356200158596039, 5.21630859375], [4.800188064575195, 0.08356200158596039, 5.039531707763672], [4.623411178588867, 0.08356200158596039, 4.862754821777344], [4.446634292602539, 0.08356200158596039, 4.685977935791016], [4.269857406616211, 0.08356200158596039, 4.5092010498046875], [4.093080520629883, 0.08356200158596039, 4.332424163818359], [3.916303873062134, 0.08356200158596039, 4.5092010498046875], [3.791303873062134, 0.08356200158596039, 4.725707530975342], [3.666303873062134, 0.08356200158596039, 4.942214012145996], [3.5415401458740234, 0.08356200158596039, 5.183695316314697]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 2, 1, 0]"}
{"id": 329, "episode_id": "330", "scene_id": "ULsKaCPVFJR", "instruction": "Leave bedroom by walking down the hallway and stop at picture hanging on the wall. Turn left facing sign hanging on hallway wall. Walk towards sign and turn left into first doorway. Look at bathroom sink. Wait here. ", "start_position": [6.516180038452148, 0.08356200158596039, 6.847030162811279], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "goal_radius": 3.0, "reference_path": "[[6.516180038452148, 0.08356200158596039, 6.847030162811279], [6.072999954223633, 0.08356200158596039, 6.221320152282715], [5.782479763031006, 0.08356200158596039, 5.960060119628906], [4.713200092315674, 0.08356200158596039, 4.8334197998046875], [3.9238998889923096, 0.08356200158596039, 4.04433012008667], [3.4707400798797607, 0.08356200158596039, 5.586850166320801]]", "geodesic_distance": 4.436363697052002, "gt_locations": "[[6.516180038452148, 0.08356200158596039, 6.847030162811279], [6.391180038452148, 0.08356200158596039, 6.630523681640625], [6.21440315246582, 0.08356200158596039, 6.453746795654297], [6.037626266479492, 0.08356200158596039, 6.276969909667969], [5.860849380493164, 0.08356200158596039, 6.100193023681641], [5.684072494506836, 0.08356200158596039, 5.9234161376953125], [5.507295608520508, 0.08356200158596039, 5.746639251708984], [5.33051872253418, 0.08583645522594452, 5.569862365722656], [5.153741836547852, 0.08356200158596039, 5.393085479736328], [4.976964950561523, 0.08356200158596039, 5.21630859375], [4.800188064575195, 0.08356200158596039, 5.039531707763672], [4.623411178588867, 0.08356200158596039, 4.862754821777344], [4.446634292602539, 0.08356200158596039, 4.685977935791016], [4.269857406616211, 0.08356200158596039, 4.5092010498046875], [4.093080520629883, 0.08356200158596039, 4.332424163818359], [3.916303873062134, 0.08356200158596039, 4.5092010498046875], [3.791303873062134, 0.08356200158596039, 4.725707530975342], [3.666303873062134, 0.08356200158596039, 4.942214012145996], [3.5415401458740234, 0.08356200158596039, 5.183695316314697]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 2, 1, 0]"}
{"id": 330, "episode_id": "331", "scene_id": "ULsKaCPVFJR", "instruction": "Exit the bedroom and walk down the hallway. Turn left and stand at the entrance of the bathroom. Wait near the sink. ", "start_position": [6.516180038452148, 0.08356200158596039, 6.847030162811279], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "goal_radius": 3.0, "reference_path": "[[6.516180038452148, 0.08356200158596039, 6.847030162811279], [6.072999954223633, 0.08356200158596039, 6.221320152282715], [5.782479763031006, 0.08356200158596039, 5.960060119628906], [4.713200092315674, 0.08356200158596039, 4.8334197998046875], [3.9238998889923096, 0.08356200158596039, 4.04433012008667], [3.4707400798797607, 0.08356200158596039, 5.586850166320801]]", "geodesic_distance": 4.436363697052002, "gt_locations": "[[6.516180038452148, 0.08356200158596039, 6.847030162811279], [6.391180038452148, 0.08356200158596039, 6.630523681640625], [6.21440315246582, 0.08356200158596039, 6.453746795654297], [6.037626266479492, 0.08356200158596039, 6.276969909667969], [5.860849380493164, 0.08356200158596039, 6.100193023681641], [5.684072494506836, 0.08356200158596039, 5.9234161376953125], [5.507295608520508, 0.08356200158596039, 5.746639251708984], [5.33051872253418, 0.08583645522594452, 5.569862365722656], [5.153741836547852, 0.08356200158596039, 5.393085479736328], [4.976964950561523, 0.08356200158596039, 5.21630859375], [4.800188064575195, 0.08356200158596039, 5.039531707763672], [4.623411178588867, 0.08356200158596039, 4.862754821777344], [4.446634292602539, 0.08356200158596039, 4.685977935791016], [4.269857406616211, 0.08356200158596039, 4.5092010498046875], [4.093080520629883, 0.08356200158596039, 4.332424163818359], [3.916303873062134, 0.08356200158596039, 4.5092010498046875], [3.791303873062134, 0.08356200158596039, 4.725707530975342], [3.666303873062134, 0.08356200158596039, 4.942214012145996], [3.5415401458740234, 0.08356200158596039, 5.183695316314697]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 2, 1, 0]"}
{"id": 331, "episode_id": "332", "scene_id": "i5noydFURQK", "instruction": "Exit the laundry room and turn left. Continue into the carpeted bedroom. Turn into the closet on the left and stop a couple of feet inside of it. ", "start_position": [3.9736099243164062, 0.18682312965393066, 8.969650268554688], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [0.28368398547172546, 0.18682312965393066, 8.244500160217285], "goal_radius": 3.0, "reference_path": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9335899353027344, 0.18682312965393066, 7.197939872741699], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [0.28368398547172546, 0.18682312965393066, 8.244500160217285]]", "geodesic_distance": 5.223918437957764, "gt_locations": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9736099243164062, 0.18682312965393066, 8.719650268554688], [3.9736099243164062, 0.18682312965393066, 8.469650268554688], [3.9736099243164062, 0.18682312965393066, 8.219650268554688], [3.908905267715454, 0.18682312965393066, 7.978168964385986], [3.908905267715454, 0.18682312965393066, 7.728168964385986], [3.908905267715454, 0.18682312965393066, 7.478168964385986], [3.692399024963379, 0.18682312965393066, 7.353168964385986], [3.4509174823760986, 0.18682312965393066, 7.288464069366455], [3.2094359397888184, 0.18682312965393066, 7.223759174346924], [2.967954397201538, 0.18682312965393066, 7.159054279327393], [2.726472854614258, 0.18682312965393066, 7.094349384307861], [2.476472854614258, 0.18682312965393066, 7.094349384307861], [2.226472854614258, 0.18682312965393066, 7.094349384307861], [1.9764728546142578, 0.18682312965393066, 7.094349384307861], [1.7264728546142578, 0.18682312965393066, 7.094349384307861], [1.4764728546142578, 0.18682312965393066, 7.094349384307861], [1.259966492652893, 0.18682312965393066, 7.219349384307861], [1.0434601306915283, 0.18682312965393066, 7.344349384307861], [0.8269537687301636, 0.18682312965393066, 7.469349384307861], [0.6104474067687988, 0.18682312965393066, 7.594349384307861], [0.4686622619628906, 0.18682312965393066, 7.810855865478516]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 332, "episode_id": "333", "scene_id": "i5noydFURQK", "instruction": "Walk out of the laundry room and turn left. Walk into the bedroom and turn left. Stop just inside the closet. ", "start_position": [3.9736099243164062, 0.18682312965393066, 8.969650268554688], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [0.28368398547172546, 0.18682312965393066, 8.244500160217285], "goal_radius": 3.0, "reference_path": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9335899353027344, 0.18682312965393066, 7.197939872741699], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [0.28368398547172546, 0.18682312965393066, 8.244500160217285]]", "geodesic_distance": 5.223918437957764, "gt_locations": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9736099243164062, 0.18682312965393066, 8.719650268554688], [3.9736099243164062, 0.18682312965393066, 8.469650268554688], [3.9736099243164062, 0.18682312965393066, 8.219650268554688], [3.908905267715454, 0.18682312965393066, 7.978168964385986], [3.908905267715454, 0.18682312965393066, 7.728168964385986], [3.908905267715454, 0.18682312965393066, 7.478168964385986], [3.692399024963379, 0.18682312965393066, 7.353168964385986], [3.4509174823760986, 0.18682312965393066, 7.288464069366455], [3.2094359397888184, 0.18682312965393066, 7.223759174346924], [2.967954397201538, 0.18682312965393066, 7.159054279327393], [2.726472854614258, 0.18682312965393066, 7.094349384307861], [2.476472854614258, 0.18682312965393066, 7.094349384307861], [2.226472854614258, 0.18682312965393066, 7.094349384307861], [1.9764728546142578, 0.18682312965393066, 7.094349384307861], [1.7264728546142578, 0.18682312965393066, 7.094349384307861], [1.4764728546142578, 0.18682312965393066, 7.094349384307861], [1.259966492652893, 0.18682312965393066, 7.219349384307861], [1.0434601306915283, 0.18682312965393066, 7.344349384307861], [0.8269537687301636, 0.18682312965393066, 7.469349384307861], [0.6104474067687988, 0.18682312965393066, 7.594349384307861], [0.4686622619628906, 0.18682312965393066, 7.810855865478516]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 333, "episode_id": "334", "scene_id": "i5noydFURQK", "instruction": "After you leave the laundry room make a left in the hallway, and go to the bedroom straight ahead. When you are in the doorway of the room go to the doorway of the closet on the left and wait. ", "start_position": [3.9736099243164062, 0.18682312965393066, 8.969650268554688], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [0.28368398547172546, 0.18682312965393066, 8.244500160217285], "goal_radius": 3.0, "reference_path": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9335899353027344, 0.18682312965393066, 7.197939872741699], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [0.28368398547172546, 0.18682312965393066, 8.244500160217285]]", "geodesic_distance": 5.223918437957764, "gt_locations": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9736099243164062, 0.18682312965393066, 8.719650268554688], [3.9736099243164062, 0.18682312965393066, 8.469650268554688], [3.9736099243164062, 0.18682312965393066, 8.219650268554688], [3.908905267715454, 0.18682312965393066, 7.978168964385986], [3.908905267715454, 0.18682312965393066, 7.728168964385986], [3.908905267715454, 0.18682312965393066, 7.478168964385986], [3.692399024963379, 0.18682312965393066, 7.353168964385986], [3.4509174823760986, 0.18682312965393066, 7.288464069366455], [3.2094359397888184, 0.18682312965393066, 7.223759174346924], [2.967954397201538, 0.18682312965393066, 7.159054279327393], [2.726472854614258, 0.18682312965393066, 7.094349384307861], [2.476472854614258, 0.18682312965393066, 7.094349384307861], [2.226472854614258, 0.18682312965393066, 7.094349384307861], [1.9764728546142578, 0.18682312965393066, 7.094349384307861], [1.7264728546142578, 0.18682312965393066, 7.094349384307861], [1.4764728546142578, 0.18682312965393066, 7.094349384307861], [1.259966492652893, 0.18682312965393066, 7.219349384307861], [1.0434601306915283, 0.18682312965393066, 7.344349384307861], [0.8269537687301636, 0.18682312965393066, 7.469349384307861], [0.6104474067687988, 0.18682312965393066, 7.594349384307861], [0.4686622619628906, 0.18682312965393066, 7.810855865478516]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 2, 2, 1, 0]"}
{"id": 334, "episode_id": "335", "scene_id": "sT4fr6TAbpF", "instruction": "Climb up the step and go straight forward. Go past the glass table.  Stop right next to the five light switches. ", "start_position": [5.52170991897583, -0.05441542714834213, -13.697600364685059], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [5.537859916687012, 0.05631500482559204, -6.186800003051758], "goal_radius": 3.0, "reference_path": "[[5.52170991897583, -0.05441542714834213, -13.697600364685059], [4.988329887390137, 0.05631500482559204, -10.359800338745117], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.537859916687012, 0.05631500482559204, -6.186800003051758]]", "geodesic_distance": 7.51163387298584, "gt_locations": "[[5.52170991897583, -0.05441542714834213, -13.697600364685059], [5.457005023956299, -0.01827138662338257, -13.4561185836792], [5.392300128936768, 0.008722364902496338, -13.21463680267334], [5.327595233917236, 0.05631500482559204, -12.97315502166748], [5.262890338897705, 0.05631500482559204, -12.731673240661621], [5.198185443878174, 0.05631500482559204, -12.490191459655762], [5.133480548858643, 0.05631500482559204, -12.248709678649902], [5.133480548858643, 0.05631500482559204, -11.998709678649902], [5.133480548858643, 0.05631500482559204, -11.748709678649902], [5.133480548858643, 0.05631500482559204, -11.498709678649902], [5.133480548858643, 0.05631500482559204, -11.248709678649902], [5.133480548858643, 0.05631500482559204, -10.998709678649902], [5.068775653839111, 0.05631500482559204, -10.757227897644043], [5.068775653839111, 0.05631500482559204, -10.507227897644043], [5.068775653839111, 0.05631500482559204, -10.257227897644043], [5.068775653839111, 0.05631500482559204, -10.007227897644043], [5.068775653839111, 0.05631500482559204, -9.757227897644043], [5.068775653839111, 0.05631500482559204, -9.507227897644043], [5.068775653839111, 0.05631500482559204, -9.257227897644043], [5.068775653839111, 0.05631500482559204, -9.007227897644043], [5.068775653839111, 0.05631500482559204, -8.757227897644043], [5.068775653839111, 0.05631500482559204, -8.507227897644043], [5.068775653839111, 0.05631500482559204, -8.257227897644043], [5.133480548858643, 0.05631500482559204, -8.015746116638184], [5.198185443878174, 0.05631500482559204, -7.774264812469482], [5.262890338897705, 0.05631500482559204, -7.532783508300781], [5.327595233917236, 0.05631500482559204, -7.29130220413208], [5.392300128936768, 0.05631500482559204, -7.049820899963379], [5.457005023956299, 0.05631500482559204, -6.808339595794678], [5.52170991897583, 0.05631500482559204, -6.566858291625977]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 335, "episode_id": "336", "scene_id": "sT4fr6TAbpF", "instruction": "Exit Living area up the step. Walk to Dining room exit. Stop. ", "start_position": [5.52170991897583, -0.05441542714834213, -13.697600364685059], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [5.537859916687012, 0.05631500482559204, -6.186800003051758], "goal_radius": 3.0, "reference_path": "[[5.52170991897583, -0.05441542714834213, -13.697600364685059], [4.988329887390137, 0.05631500482559204, -10.359800338745117], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.537859916687012, 0.05631500482559204, -6.186800003051758]]", "geodesic_distance": 7.51163387298584, "gt_locations": "[[5.52170991897583, -0.05441542714834213, -13.697600364685059], [5.457005023956299, -0.01827138662338257, -13.4561185836792], [5.392300128936768, 0.008722364902496338, -13.21463680267334], [5.327595233917236, 0.05631500482559204, -12.97315502166748], [5.262890338897705, 0.05631500482559204, -12.731673240661621], [5.198185443878174, 0.05631500482559204, -12.490191459655762], [5.133480548858643, 0.05631500482559204, -12.248709678649902], [5.133480548858643, 0.05631500482559204, -11.998709678649902], [5.133480548858643, 0.05631500482559204, -11.748709678649902], [5.133480548858643, 0.05631500482559204, -11.498709678649902], [5.133480548858643, 0.05631500482559204, -11.248709678649902], [5.133480548858643, 0.05631500482559204, -10.998709678649902], [5.068775653839111, 0.05631500482559204, -10.757227897644043], [5.068775653839111, 0.05631500482559204, -10.507227897644043], [5.068775653839111, 0.05631500482559204, -10.257227897644043], [5.068775653839111, 0.05631500482559204, -10.007227897644043], [5.068775653839111, 0.05631500482559204, -9.757227897644043], [5.068775653839111, 0.05631500482559204, -9.507227897644043], [5.068775653839111, 0.05631500482559204, -9.257227897644043], [5.068775653839111, 0.05631500482559204, -9.007227897644043], [5.068775653839111, 0.05631500482559204, -8.757227897644043], [5.068775653839111, 0.05631500482559204, -8.507227897644043], [5.068775653839111, 0.05631500482559204, -8.257227897644043], [5.133480548858643, 0.05631500482559204, -8.015746116638184], [5.198185443878174, 0.05631500482559204, -7.774264812469482], [5.262890338897705, 0.05631500482559204, -7.532783508300781], [5.327595233917236, 0.05631500482559204, -7.29130220413208], [5.392300128936768, 0.05631500482559204, -7.049820899963379], [5.457005023956299, 0.05631500482559204, -6.808339595794678], [5.52170991897583, 0.05631500482559204, -6.566858291625977]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 336, "episode_id": "337", "scene_id": "sT4fr6TAbpF", "instruction": "Walk past the dining room table. Walk to the left of the grated wall and stop. ", "start_position": [5.52170991897583, -0.05441542714834213, -13.697600364685059], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [5.537859916687012, 0.05631500482559204, -6.186800003051758], "goal_radius": 3.0, "reference_path": "[[5.52170991897583, -0.05441542714834213, -13.697600364685059], [4.988329887390137, 0.05631500482559204, -10.359800338745117], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.537859916687012, 0.05631500482559204, -6.186800003051758]]", "geodesic_distance": 7.51163387298584, "gt_locations": "[[5.52170991897583, -0.05441542714834213, -13.697600364685059], [5.457005023956299, -0.01827138662338257, -13.4561185836792], [5.392300128936768, 0.008722364902496338, -13.21463680267334], [5.327595233917236, 0.05631500482559204, -12.97315502166748], [5.262890338897705, 0.05631500482559204, -12.731673240661621], [5.198185443878174, 0.05631500482559204, -12.490191459655762], [5.133480548858643, 0.05631500482559204, -12.248709678649902], [5.133480548858643, 0.05631500482559204, -11.998709678649902], [5.133480548858643, 0.05631500482559204, -11.748709678649902], [5.133480548858643, 0.05631500482559204, -11.498709678649902], [5.133480548858643, 0.05631500482559204, -11.248709678649902], [5.133480548858643, 0.05631500482559204, -10.998709678649902], [5.068775653839111, 0.05631500482559204, -10.757227897644043], [5.068775653839111, 0.05631500482559204, -10.507227897644043], [5.068775653839111, 0.05631500482559204, -10.257227897644043], [5.068775653839111, 0.05631500482559204, -10.007227897644043], [5.068775653839111, 0.05631500482559204, -9.757227897644043], [5.068775653839111, 0.05631500482559204, -9.507227897644043], [5.068775653839111, 0.05631500482559204, -9.257227897644043], [5.068775653839111, 0.05631500482559204, -9.007227897644043], [5.068775653839111, 0.05631500482559204, -8.757227897644043], [5.068775653839111, 0.05631500482559204, -8.507227897644043], [5.068775653839111, 0.05631500482559204, -8.257227897644043], [5.133480548858643, 0.05631500482559204, -8.015746116638184], [5.198185443878174, 0.05631500482559204, -7.774264812469482], [5.262890338897705, 0.05631500482559204, -7.532783508300781], [5.327595233917236, 0.05631500482559204, -7.29130220413208], [5.392300128936768, 0.05631500482559204, -7.049820899963379], [5.457005023956299, 0.05631500482559204, -6.808339595794678], [5.52170991897583, 0.05631500482559204, -6.566858291625977]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 337, "episode_id": "338", "scene_id": "ZMojNkEp431", "instruction": "Go straight then turn right and pass the many desks until you get to the ping pong table. Wait there. ", "start_position": [19.461999893188477, 0.09357202053070068, -4.490479946136475], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [7.903989791870117, 0.09357202053070068, -0.2666899859905243], "goal_radius": 3.0, "reference_path": "[[19.461999893188477, 0.09357202053070068, -4.490479946136475], [17.76919937133789, 0.09357202053070068, -1.9148199558258057], [15.171699523925781, 0.09357202053070068, -0.0022634901106357574], [13.118200302124023, 0.09357202053070068, 0.057618800550699234], [11.288900375366211, 0.09357202053070068, -0.14451099932193756], [7.903989791870117, 0.09357202053070068, -0.2666899859905243]]", "geodesic_distance": 13.466001510620117, "gt_locations": "[[19.461999893188477, 0.09357202053070068, -4.490479946136475], [19.336999893188477, 0.09357202053070068, -4.27397346496582], [19.211999893188477, 0.09357202053070068, -4.057466983795166], [19.086999893188477, 0.09357202053070068, -3.8409605026245117], [18.961999893188477, 0.09357202053070068, -3.6244540214538574], [18.836999893188477, 0.09357202053070068, -3.407947540283203], [18.711999893188477, 0.09357202053070068, -3.191441059112549], [18.647294998168945, 0.09357202053070068, -2.9499597549438477], [18.470518112182617, 0.09357202053070068, -2.7731831073760986], [18.29374122619629, 0.09357202053070068, -2.5964064598083496], [18.11696434020996, 0.09357202053070068, -2.4196298122406006], [17.99196434020996, 0.09357202053070068, -2.2031233310699463], [17.86696434020996, 0.09357202053070068, -1.9866169691085815], [17.690187454223633, 0.09357202053070068, -1.8098403215408325], [17.513410568237305, 0.09357202053070068, -1.6330636739730835], [17.336633682250977, 0.09357202053070068, -1.4562870264053345], [17.211633682250977, 0.09357202053070068, -1.2397806644439697], [17.03485679626465, 0.09357202053070068, -1.0630040168762207], [16.85807991027832, 0.09357202053070068, -0.8862273693084717], [16.641572952270508, 0.09357202053070068, -0.7612273693084717], [16.425065994262695, 0.09357202053070068, -0.6362273693084717], [16.208559036254883, 0.09357202053070068, -0.5112273693084717], [15.992053031921387, 0.09357202053070068, -0.3862273395061493], [15.77554702758789, 0.09357202053070068, -0.2612273097038269], [15.559041023254395, 0.09357202053070068, -0.13622727990150452], [15.309041023254395, 0.09357202053070068, -0.13622725009918213], [15.059041023254395, 0.09357202053070068, -0.13622722029685974], [14.809041023254395, 0.09357202053070068, -0.13622719049453735], [14.559041023254395, 0.09357202053070068, -0.13622716069221497], [14.309041023254395, 0.09357202053070068, -0.13622713088989258], [14.059041023254395, 0.09357202053070068, -0.1362271010875702], [13.817559242248535, 0.09357202053070068, -0.0715222954750061], [13.576077461242676, 0.09357202053070068, -0.006817489862442017], [13.326077461242676, 0.09357202053070068, -0.006817460060119629], [13.076077461242676, 0.09357202053070068, -0.006817430257797241], [12.826077461242676, 0.09357202053070068, -0.0068174004554748535], [12.576077461242676, 0.09357202053070068, -0.006817370653152466], [12.326077461242676, 0.09357202053070068, -0.006817340850830078], [12.076077461242676, 0.09357202053070068, -0.00681731104850769], [11.834595680236816, 0.09357202053070068, -0.07152204215526581], [11.593113899230957, 0.09357202053070068, -0.13622677326202393], [11.343113899230957, 0.09357202053070068, -0.13622674345970154], [11.093113899230957, 0.09357202053070068, -0.13622671365737915], [10.843113899230957, 0.09357202053070068, -0.13622668385505676], [10.593113899230957, 0.09357202053070068, -0.13622665405273438], [10.343113899230957, 0.09357202053070068, -0.136226624250412], [10.093113899230957, 0.09357202053070068, -0.1362265944480896], [9.843113899230957, 0.09357202053070068, -0.1362265646457672], [9.593113899230957, 0.09357202053070068, -0.13622653484344482], [9.343113899230957, 0.09357202053070068, -0.13622650504112244], [9.093113899230957, 0.09357202053070068, -0.13622647523880005], [8.843113899230957, 0.09357202053070068, -0.13622644543647766], [8.593113899230957, 0.09357202053070068, -0.13622641563415527], [8.351632118225098, 0.09357202053070068, -0.2009311467409134]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 338, "episode_id": "339", "scene_id": "ZMojNkEp431", "instruction": "Exit the nook and turn right, then walk straight between the two rows of tables until you come even with a ping pong table with four chairs under it. ", "start_position": [19.461999893188477, 0.09357202053070068, -4.490479946136475], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [7.903989791870117, 0.09357202053070068, -0.2666899859905243], "goal_radius": 3.0, "reference_path": "[[19.461999893188477, 0.09357202053070068, -4.490479946136475], [17.76919937133789, 0.09357202053070068, -1.9148199558258057], [15.171699523925781, 0.09357202053070068, -0.0022634901106357574], [13.118200302124023, 0.09357202053070068, 0.057618800550699234], [11.288900375366211, 0.09357202053070068, -0.14451099932193756], [7.903989791870117, 0.09357202053070068, -0.2666899859905243]]", "geodesic_distance": 13.466001510620117, "gt_locations": "[[19.461999893188477, 0.09357202053070068, -4.490479946136475], [19.336999893188477, 0.09357202053070068, -4.27397346496582], [19.211999893188477, 0.09357202053070068, -4.057466983795166], [19.086999893188477, 0.09357202053070068, -3.8409605026245117], [18.961999893188477, 0.09357202053070068, -3.6244540214538574], [18.836999893188477, 0.09357202053070068, -3.407947540283203], [18.711999893188477, 0.09357202053070068, -3.191441059112549], [18.647294998168945, 0.09357202053070068, -2.9499597549438477], [18.470518112182617, 0.09357202053070068, -2.7731831073760986], [18.29374122619629, 0.09357202053070068, -2.5964064598083496], [18.11696434020996, 0.09357202053070068, -2.4196298122406006], [17.99196434020996, 0.09357202053070068, -2.2031233310699463], [17.86696434020996, 0.09357202053070068, -1.9866169691085815], [17.690187454223633, 0.09357202053070068, -1.8098403215408325], [17.513410568237305, 0.09357202053070068, -1.6330636739730835], [17.336633682250977, 0.09357202053070068, -1.4562870264053345], [17.211633682250977, 0.09357202053070068, -1.2397806644439697], [17.03485679626465, 0.09357202053070068, -1.0630040168762207], [16.85807991027832, 0.09357202053070068, -0.8862273693084717], [16.641572952270508, 0.09357202053070068, -0.7612273693084717], [16.425065994262695, 0.09357202053070068, -0.6362273693084717], [16.208559036254883, 0.09357202053070068, -0.5112273693084717], [15.992053031921387, 0.09357202053070068, -0.3862273395061493], [15.77554702758789, 0.09357202053070068, -0.2612273097038269], [15.559041023254395, 0.09357202053070068, -0.13622727990150452], [15.309041023254395, 0.09357202053070068, -0.13622725009918213], [15.059041023254395, 0.09357202053070068, -0.13622722029685974], [14.809041023254395, 0.09357202053070068, -0.13622719049453735], [14.559041023254395, 0.09357202053070068, -0.13622716069221497], [14.309041023254395, 0.09357202053070068, -0.13622713088989258], [14.059041023254395, 0.09357202053070068, -0.1362271010875702], [13.817559242248535, 0.09357202053070068, -0.0715222954750061], [13.576077461242676, 0.09357202053070068, -0.006817489862442017], [13.326077461242676, 0.09357202053070068, -0.006817460060119629], [13.076077461242676, 0.09357202053070068, -0.006817430257797241], [12.826077461242676, 0.09357202053070068, -0.0068174004554748535], [12.576077461242676, 0.09357202053070068, -0.006817370653152466], [12.326077461242676, 0.09357202053070068, -0.006817340850830078], [12.076077461242676, 0.09357202053070068, -0.00681731104850769], [11.834595680236816, 0.09357202053070068, -0.07152204215526581], [11.593113899230957, 0.09357202053070068, -0.13622677326202393], [11.343113899230957, 0.09357202053070068, -0.13622674345970154], [11.093113899230957, 0.09357202053070068, -0.13622671365737915], [10.843113899230957, 0.09357202053070068, -0.13622668385505676], [10.593113899230957, 0.09357202053070068, -0.13622665405273438], [10.343113899230957, 0.09357202053070068, -0.136226624250412], [10.093113899230957, 0.09357202053070068, -0.1362265944480896], [9.843113899230957, 0.09357202053070068, -0.1362265646457672], [9.593113899230957, 0.09357202053070068, -0.13622653484344482], [9.343113899230957, 0.09357202053070068, -0.13622650504112244], [9.093113899230957, 0.09357202053070068, -0.13622647523880005], [8.843113899230957, 0.09357202053070068, -0.13622644543647766], [8.593113899230957, 0.09357202053070068, -0.13622641563415527], [8.351632118225098, 0.09357202053070068, -0.2009311467409134]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 339, "episode_id": "340", "scene_id": "ZMojNkEp431", "instruction": "Turn right and walk around the desk out into the room. Then turn right and walk forward stop by the ping pong table. ", "start_position": [19.461999893188477, 0.09357202053070068, -4.490479946136475], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [7.903989791870117, 0.09357202053070068, -0.2666899859905243], "goal_radius": 3.0, "reference_path": "[[19.461999893188477, 0.09357202053070068, -4.490479946136475], [17.76919937133789, 0.09357202053070068, -1.9148199558258057], [15.171699523925781, 0.09357202053070068, -0.0022634901106357574], [13.118200302124023, 0.09357202053070068, 0.057618800550699234], [11.288900375366211, 0.09357202053070068, -0.14451099932193756], [7.903989791870117, 0.09357202053070068, -0.2666899859905243]]", "geodesic_distance": 13.466001510620117, "gt_locations": "[[19.461999893188477, 0.09357202053070068, -4.490479946136475], [19.336999893188477, 0.09357202053070068, -4.27397346496582], [19.211999893188477, 0.09357202053070068, -4.057466983795166], [19.086999893188477, 0.09357202053070068, -3.8409605026245117], [18.961999893188477, 0.09357202053070068, -3.6244540214538574], [18.836999893188477, 0.09357202053070068, -3.407947540283203], [18.711999893188477, 0.09357202053070068, -3.191441059112549], [18.647294998168945, 0.09357202053070068, -2.9499597549438477], [18.470518112182617, 0.09357202053070068, -2.7731831073760986], [18.29374122619629, 0.09357202053070068, -2.5964064598083496], [18.11696434020996, 0.09357202053070068, -2.4196298122406006], [17.99196434020996, 0.09357202053070068, -2.2031233310699463], [17.86696434020996, 0.09357202053070068, -1.9866169691085815], [17.690187454223633, 0.09357202053070068, -1.8098403215408325], [17.513410568237305, 0.09357202053070068, -1.6330636739730835], [17.336633682250977, 0.09357202053070068, -1.4562870264053345], [17.211633682250977, 0.09357202053070068, -1.2397806644439697], [17.03485679626465, 0.09357202053070068, -1.0630040168762207], [16.85807991027832, 0.09357202053070068, -0.8862273693084717], [16.641572952270508, 0.09357202053070068, -0.7612273693084717], [16.425065994262695, 0.09357202053070068, -0.6362273693084717], [16.208559036254883, 0.09357202053070068, -0.5112273693084717], [15.992053031921387, 0.09357202053070068, -0.3862273395061493], [15.77554702758789, 0.09357202053070068, -0.2612273097038269], [15.559041023254395, 0.09357202053070068, -0.13622727990150452], [15.309041023254395, 0.09357202053070068, -0.13622725009918213], [15.059041023254395, 0.09357202053070068, -0.13622722029685974], [14.809041023254395, 0.09357202053070068, -0.13622719049453735], [14.559041023254395, 0.09357202053070068, -0.13622716069221497], [14.309041023254395, 0.09357202053070068, -0.13622713088989258], [14.059041023254395, 0.09357202053070068, -0.1362271010875702], [13.817559242248535, 0.09357202053070068, -0.0715222954750061], [13.576077461242676, 0.09357202053070068, -0.006817489862442017], [13.326077461242676, 0.09357202053070068, -0.006817460060119629], [13.076077461242676, 0.09357202053070068, -0.006817430257797241], [12.826077461242676, 0.09357202053070068, -0.0068174004554748535], [12.576077461242676, 0.09357202053070068, -0.006817370653152466], [12.326077461242676, 0.09357202053070068, -0.006817340850830078], [12.076077461242676, 0.09357202053070068, -0.00681731104850769], [11.834595680236816, 0.09357202053070068, -0.07152204215526581], [11.593113899230957, 0.09357202053070068, -0.13622677326202393], [11.343113899230957, 0.09357202053070068, -0.13622674345970154], [11.093113899230957, 0.09357202053070068, -0.13622671365737915], [10.843113899230957, 0.09357202053070068, -0.13622668385505676], [10.593113899230957, 0.09357202053070068, -0.13622665405273438], [10.343113899230957, 0.09357202053070068, -0.136226624250412], [10.093113899230957, 0.09357202053070068, -0.1362265944480896], [9.843113899230957, 0.09357202053070068, -0.1362265646457672], [9.593113899230957, 0.09357202053070068, -0.13622653484344482], [9.343113899230957, 0.09357202053070068, -0.13622650504112244], [9.093113899230957, 0.09357202053070068, -0.13622647523880005], [8.843113899230957, 0.09357202053070068, -0.13622644543647766], [8.593113899230957, 0.09357202053070068, -0.13622641563415527], [8.351632118225098, 0.09357202053070068, -0.2009311467409134]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 340, "episode_id": "341", "scene_id": "vyrNrziPKCB", "instruction": "Turn and walk down the hallway. There will be family photos hung on the wall on your right. When you come to a glass door that exits the building, stop and wait in front of it. ", "start_position": [12.363100051879883, 0.19856905937194824, 18.125999450683594], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [18.831899642944336, 0.13072605431079865, 18.046499252319336], "goal_radius": 3.0, "reference_path": "[[12.363100051879883, 0.19856905937194824, 18.125999450683594], [13.864100456237793, 0.19856904447078705, 18.112199783325195], [15.407299995422363, 0.19856905937194824, 18.09239959716797], [17.28849983215332, 0.08965246379375458, 18.133100509643555], [18.831899642944336, 0.13072605431079865, 18.046499252319336]]", "geodesic_distance": 6.469643592834473, "gt_locations": "[[12.363100051879883, 0.19856905937194824, 18.125999450683594], [12.613100051879883, 0.19856905937194824, 18.125999450683594], [12.863100051879883, 0.19856905937194824, 18.125999450683594], [13.113100051879883, 0.19856905937194824, 18.125999450683594], [13.363100051879883, 0.19856905937194824, 18.125999450683594], [13.613100051879883, 0.19856902956962585, 18.125999450683594], [13.863100051879883, 0.19856902956962585, 18.125999450683594], [14.113100051879883, 0.19856904447078705, 18.125999450683594], [14.363100051879883, 0.19856905937194824, 18.125999450683594], [14.613100051879883, 0.19856905937194824, 18.125999450683594], [14.863100051879883, 0.19856905937194824, 18.125999450683594], [15.113100051879883, 0.19856905937194824, 18.125999450683594], [15.363100051879883, 0.19856905937194824, 18.125999450683594], [15.613100051879883, 0.19856904447078705, 18.125999450683594], [15.863100051879883, 0.19856901466846466, 18.125999450683594], [16.113100051879883, 0.19856901466846466, 18.125999450683594], [16.363100051879883, 0.1936892420053482, 18.125999450683594], [16.613100051879883, 0.13673937320709229, 18.125999450683594], [16.863100051879883, 0.09671128541231155, 18.125999450683594], [17.113100051879883, 0.0944785550236702, 18.125999450683594], [17.363100051879883, 0.08984900265932083, 18.125999450683594], [17.613100051879883, 0.09315862506628036, 18.125999450683594], [17.863100051879883, 0.13593550026416779, 18.125999450683594], [18.113100051879883, 0.1787123829126358, 18.125999450683594], [18.363100051879883, 0.1832602322101593, 18.125999450683594]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 341, "episode_id": "342", "scene_id": "vyrNrziPKCB", "instruction": "Turn around and walk down the hall. Wait net to the foosball table. ", "start_position": [12.363100051879883, 0.19856905937194824, 18.125999450683594], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [18.831899642944336, 0.13072605431079865, 18.046499252319336], "goal_radius": 3.0, "reference_path": "[[12.363100051879883, 0.19856905937194824, 18.125999450683594], [13.864100456237793, 0.19856904447078705, 18.112199783325195], [15.407299995422363, 0.19856905937194824, 18.09239959716797], [17.28849983215332, 0.08965246379375458, 18.133100509643555], [18.831899642944336, 0.13072605431079865, 18.046499252319336]]", "geodesic_distance": 6.469643592834473, "gt_locations": "[[12.363100051879883, 0.19856905937194824, 18.125999450683594], [12.613100051879883, 0.19856905937194824, 18.125999450683594], [12.863100051879883, 0.19856905937194824, 18.125999450683594], [13.113100051879883, 0.19856905937194824, 18.125999450683594], [13.363100051879883, 0.19856905937194824, 18.125999450683594], [13.613100051879883, 0.19856902956962585, 18.125999450683594], [13.863100051879883, 0.19856902956962585, 18.125999450683594], [14.113100051879883, 0.19856904447078705, 18.125999450683594], [14.363100051879883, 0.19856905937194824, 18.125999450683594], [14.613100051879883, 0.19856905937194824, 18.125999450683594], [14.863100051879883, 0.19856905937194824, 18.125999450683594], [15.113100051879883, 0.19856905937194824, 18.125999450683594], [15.363100051879883, 0.19856905937194824, 18.125999450683594], [15.613100051879883, 0.19856904447078705, 18.125999450683594], [15.863100051879883, 0.19856901466846466, 18.125999450683594], [16.113100051879883, 0.19856901466846466, 18.125999450683594], [16.363100051879883, 0.1936892420053482, 18.125999450683594], [16.613100051879883, 0.13673937320709229, 18.125999450683594], [16.863100051879883, 0.09671128541231155, 18.125999450683594], [17.113100051879883, 0.0944785550236702, 18.125999450683594], [17.363100051879883, 0.08984900265932083, 18.125999450683594], [17.613100051879883, 0.09315862506628036, 18.125999450683594], [17.863100051879883, 0.13593550026416779, 18.125999450683594], [18.113100051879883, 0.1787123829126358, 18.125999450683594], [18.363100051879883, 0.1832602322101593, 18.125999450683594]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 342, "episode_id": "343", "scene_id": "vyrNrziPKCB", "instruction": "Walk down the hallway keeping the pictures on the wall to your right.  Stop beside the Foosball table. ", "start_position": [12.363100051879883, 0.19856905937194824, 18.125999450683594], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [18.831899642944336, 0.13072605431079865, 18.046499252319336], "goal_radius": 3.0, "reference_path": "[[12.363100051879883, 0.19856905937194824, 18.125999450683594], [13.864100456237793, 0.19856904447078705, 18.112199783325195], [15.407299995422363, 0.19856905937194824, 18.09239959716797], [17.28849983215332, 0.08965246379375458, 18.133100509643555], [18.831899642944336, 0.13072605431079865, 18.046499252319336]]", "geodesic_distance": 6.469643592834473, "gt_locations": "[[12.363100051879883, 0.19856905937194824, 18.125999450683594], [12.613100051879883, 0.19856905937194824, 18.125999450683594], [12.863100051879883, 0.19856905937194824, 18.125999450683594], [13.113100051879883, 0.19856905937194824, 18.125999450683594], [13.363100051879883, 0.19856905937194824, 18.125999450683594], [13.613100051879883, 0.19856902956962585, 18.125999450683594], [13.863100051879883, 0.19856902956962585, 18.125999450683594], [14.113100051879883, 0.19856904447078705, 18.125999450683594], [14.363100051879883, 0.19856905937194824, 18.125999450683594], [14.613100051879883, 0.19856905937194824, 18.125999450683594], [14.863100051879883, 0.19856905937194824, 18.125999450683594], [15.113100051879883, 0.19856905937194824, 18.125999450683594], [15.363100051879883, 0.19856905937194824, 18.125999450683594], [15.613100051879883, 0.19856904447078705, 18.125999450683594], [15.863100051879883, 0.19856901466846466, 18.125999450683594], [16.113100051879883, 0.19856901466846466, 18.125999450683594], [16.363100051879883, 0.1936892420053482, 18.125999450683594], [16.613100051879883, 0.13673937320709229, 18.125999450683594], [16.863100051879883, 0.09671128541231155, 18.125999450683594], [17.113100051879883, 0.0944785550236702, 18.125999450683594], [17.363100051879883, 0.08984900265932083, 18.125999450683594], [17.613100051879883, 0.09315862506628036, 18.125999450683594], [17.863100051879883, 0.13593550026416779, 18.125999450683594], [18.113100051879883, 0.1787123829126358, 18.125999450683594], [18.363100051879883, 0.1832602322101593, 18.125999450683594]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 343, "episode_id": "344", "scene_id": "B6ByNegPMKs", "instruction": "walk forward towards the exit sign and turn left.  Then walk down the hall until you get to the end.  Stand next to the exit sign. ", "start_position": [57.5629997253418, 0.08020400255918503, 3.0504701137542725], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [54.288700103759766, 0.08020400255918503, 13.262100219726562], "goal_radius": 3.0, "reference_path": "[[57.5629997253418, 0.08020400255918503, 3.0504701137542725], [55.25120162963867, 0.08020400255918503, 2.9543800354003906], [54.80720138549805, 0.1375926434993744, 4.637050151824951], [54.80830001831055, 0.19022876024246216, 6.873030185699463], [54.8036994934082, 0.08020400255918503, 9.267820358276367], [54.707698822021484, 0.08020400255918503, 11.350500106811523], [54.288700103759766, 0.08020400255918503, 13.262100219726562]]", "geodesic_distance": 11.713541030883789, "gt_locations": "[[57.5629997253418, 0.08020400255918503, 3.0504701137542725], [57.3129997253418, 0.08020400255918503, 3.0504701137542725], [57.0629997253418, 0.08020400255918503, 3.0504701137542725], [56.8129997253418, 0.08020400255918503, 3.0504701137542725], [56.5629997253418, 0.08020400255918503, 3.0504701137542725], [56.3129997253418, 0.08020400255918503, 3.0504701137542725], [56.0629997253418, 0.08020400255918503, 3.0504701137542725], [55.8129997253418, 0.08020400255918503, 3.0504701137542725], [55.57151794433594, 0.08020400255918503, 2.9857654571533203], [55.44651794433594, 0.08020400255918503, 3.2022716999053955], [55.32151794433594, 0.08020400255918503, 3.4187779426574707], [55.19651794433594, 0.08020400255918503, 3.635284185409546], [55.07151794433594, 0.09046679735183716, 3.851790428161621], [55.006813049316406, 0.10482323169708252, 4.093271732330322], [54.942108154296875, 0.11917966604232788, 4.334753036499023], [54.942108154296875, 0.13349458575248718, 4.584753036499023], [54.942108154296875, 0.14780952036380768, 4.834753036499023], [54.942108154296875, 0.16212445497512817, 5.084753036499023], [54.942108154296875, 0.17322833836078644, 5.334753036499023], [54.942108154296875, 0.17264564335346222, 5.584753036499023], [54.942108154296875, 0.172062948346138, 5.834753036499023], [54.942108154296875, 0.1714802384376526, 6.084753036499023], [54.877403259277344, 0.18087197840213776, 6.326234340667725], [54.81269836425781, 0.19026371836662292, 6.567715644836426], [54.81269836425781, 0.1896810233592987, 6.817715644836426], [54.81269836425781, 0.18915385007858276, 7.067715644836426], [54.81269836425781, 0.18915385007858276, 7.317715644836426], [54.81269836425781, 0.18915385007858276, 7.567715644836426], [54.81269836425781, 0.17040933668613434, 7.817715644836426], [54.81269836425781, 0.11888264119625092, 8.067715644836426], [54.81269836425781, 0.08020400255918503, 8.317715644836426], [54.81269836425781, 0.08020400255918503, 8.567715644836426], [54.81269836425781, 0.08020400255918503, 8.817715644836426], [54.81269836425781, 0.08020400255918503, 9.067715644836426], [54.81269836425781, 0.08020400255918503, 9.317715644836426], [54.81269836425781, 0.08020400255918503, 9.567715644836426], [54.81269836425781, 0.08020400255918503, 9.817715644836426], [54.81269836425781, 0.08020400255918503, 10.067715644836426], [54.81269836425781, 0.08020400255918503, 10.317715644836426], [54.81269836425781, 0.08020400255918503, 10.567715644836426], [54.81269836425781, 0.08020400255918503, 10.817715644836426], [54.74799346923828, 0.08020400255918503, 11.059197425842285], [54.68328857421875, 0.08020400255918503, 11.300679206848145], [54.61858367919922, 0.08020400255918503, 11.542160987854004], [54.55387878417969, 0.08020400255918503, 11.783642768859863], [54.489173889160156, 0.08020400255918503, 12.025124549865723], [54.424468994140625, 0.08020400255918503, 12.266606330871582], [54.359764099121094, 0.08020400255918503, 12.508088111877441], [54.359764099121094, 0.08020400255918503, 12.758088111877441], [54.359764099121094, 0.08020400255918503, 13.008088111877441]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 344, "episode_id": "345", "scene_id": "B6ByNegPMKs", "instruction": "Walk down the hall towards the red door.  When you get to the red door, turn left, and walk down the hallway.  Keep walking down the hallway, passing numerous doors on your left.  At the end of the hallway, stop in the corridor, in front of the office that's directly in front of you. ", "start_position": [57.5629997253418, 0.08020400255918503, 3.0504701137542725], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [54.288700103759766, 0.08020400255918503, 13.262100219726562], "goal_radius": 3.0, "reference_path": "[[57.5629997253418, 0.08020400255918503, 3.0504701137542725], [55.25120162963867, 0.08020400255918503, 2.9543800354003906], [54.80720138549805, 0.1375926434993744, 4.637050151824951], [54.80830001831055, 0.19022876024246216, 6.873030185699463], [54.8036994934082, 0.08020400255918503, 9.267820358276367], [54.707698822021484, 0.08020400255918503, 11.350500106811523], [54.288700103759766, 0.08020400255918503, 13.262100219726562]]", "geodesic_distance": 11.713541030883789, "gt_locations": "[[57.5629997253418, 0.08020400255918503, 3.0504701137542725], [57.3129997253418, 0.08020400255918503, 3.0504701137542725], [57.0629997253418, 0.08020400255918503, 3.0504701137542725], [56.8129997253418, 0.08020400255918503, 3.0504701137542725], [56.5629997253418, 0.08020400255918503, 3.0504701137542725], [56.3129997253418, 0.08020400255918503, 3.0504701137542725], [56.0629997253418, 0.08020400255918503, 3.0504701137542725], [55.8129997253418, 0.08020400255918503, 3.0504701137542725], [55.57151794433594, 0.08020400255918503, 2.9857654571533203], [55.44651794433594, 0.08020400255918503, 3.2022716999053955], [55.32151794433594, 0.08020400255918503, 3.4187779426574707], [55.19651794433594, 0.08020400255918503, 3.635284185409546], [55.07151794433594, 0.09046679735183716, 3.851790428161621], [55.006813049316406, 0.10482323169708252, 4.093271732330322], [54.942108154296875, 0.11917966604232788, 4.334753036499023], [54.942108154296875, 0.13349458575248718, 4.584753036499023], [54.942108154296875, 0.14780952036380768, 4.834753036499023], [54.942108154296875, 0.16212445497512817, 5.084753036499023], [54.942108154296875, 0.17322833836078644, 5.334753036499023], [54.942108154296875, 0.17264564335346222, 5.584753036499023], [54.942108154296875, 0.172062948346138, 5.834753036499023], [54.942108154296875, 0.1714802384376526, 6.084753036499023], [54.877403259277344, 0.18087197840213776, 6.326234340667725], [54.81269836425781, 0.19026371836662292, 6.567715644836426], [54.81269836425781, 0.1896810233592987, 6.817715644836426], [54.81269836425781, 0.18915385007858276, 7.067715644836426], [54.81269836425781, 0.18915385007858276, 7.317715644836426], [54.81269836425781, 0.18915385007858276, 7.567715644836426], [54.81269836425781, 0.17040933668613434, 7.817715644836426], [54.81269836425781, 0.11888264119625092, 8.067715644836426], [54.81269836425781, 0.08020400255918503, 8.317715644836426], [54.81269836425781, 0.08020400255918503, 8.567715644836426], [54.81269836425781, 0.08020400255918503, 8.817715644836426], [54.81269836425781, 0.08020400255918503, 9.067715644836426], [54.81269836425781, 0.08020400255918503, 9.317715644836426], [54.81269836425781, 0.08020400255918503, 9.567715644836426], [54.81269836425781, 0.08020400255918503, 9.817715644836426], [54.81269836425781, 0.08020400255918503, 10.067715644836426], [54.81269836425781, 0.08020400255918503, 10.317715644836426], [54.81269836425781, 0.08020400255918503, 10.567715644836426], [54.81269836425781, 0.08020400255918503, 10.817715644836426], [54.74799346923828, 0.08020400255918503, 11.059197425842285], [54.68328857421875, 0.08020400255918503, 11.300679206848145], [54.61858367919922, 0.08020400255918503, 11.542160987854004], [54.55387878417969, 0.08020400255918503, 11.783642768859863], [54.489173889160156, 0.08020400255918503, 12.025124549865723], [54.424468994140625, 0.08020400255918503, 12.266606330871582], [54.359764099121094, 0.08020400255918503, 12.508088111877441], [54.359764099121094, 0.08020400255918503, 12.758088111877441], [54.359764099121094, 0.08020400255918503, 13.008088111877441]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 345, "episode_id": "346", "scene_id": "B6ByNegPMKs", "instruction": "Walk straight towards the \"Exit\" sign and turn left.  Walk straight down the hallway and stop in front of the column near the end. ", "start_position": [57.5629997253418, 0.08020400255918503, 3.0504701137542725], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [54.288700103759766, 0.08020400255918503, 13.262100219726562], "goal_radius": 3.0, "reference_path": "[[57.5629997253418, 0.08020400255918503, 3.0504701137542725], [55.25120162963867, 0.08020400255918503, 2.9543800354003906], [54.80720138549805, 0.1375926434993744, 4.637050151824951], [54.80830001831055, 0.19022876024246216, 6.873030185699463], [54.8036994934082, 0.08020400255918503, 9.267820358276367], [54.707698822021484, 0.08020400255918503, 11.350500106811523], [54.288700103759766, 0.08020400255918503, 13.262100219726562]]", "geodesic_distance": 11.713541030883789, "gt_locations": "[[57.5629997253418, 0.08020400255918503, 3.0504701137542725], [57.3129997253418, 0.08020400255918503, 3.0504701137542725], [57.0629997253418, 0.08020400255918503, 3.0504701137542725], [56.8129997253418, 0.08020400255918503, 3.0504701137542725], [56.5629997253418, 0.08020400255918503, 3.0504701137542725], [56.3129997253418, 0.08020400255918503, 3.0504701137542725], [56.0629997253418, 0.08020400255918503, 3.0504701137542725], [55.8129997253418, 0.08020400255918503, 3.0504701137542725], [55.57151794433594, 0.08020400255918503, 2.9857654571533203], [55.44651794433594, 0.08020400255918503, 3.2022716999053955], [55.32151794433594, 0.08020400255918503, 3.4187779426574707], [55.19651794433594, 0.08020400255918503, 3.635284185409546], [55.07151794433594, 0.09046679735183716, 3.851790428161621], [55.006813049316406, 0.10482323169708252, 4.093271732330322], [54.942108154296875, 0.11917966604232788, 4.334753036499023], [54.942108154296875, 0.13349458575248718, 4.584753036499023], [54.942108154296875, 0.14780952036380768, 4.834753036499023], [54.942108154296875, 0.16212445497512817, 5.084753036499023], [54.942108154296875, 0.17322833836078644, 5.334753036499023], [54.942108154296875, 0.17264564335346222, 5.584753036499023], [54.942108154296875, 0.172062948346138, 5.834753036499023], [54.942108154296875, 0.1714802384376526, 6.084753036499023], [54.877403259277344, 0.18087197840213776, 6.326234340667725], [54.81269836425781, 0.19026371836662292, 6.567715644836426], [54.81269836425781, 0.1896810233592987, 6.817715644836426], [54.81269836425781, 0.18915385007858276, 7.067715644836426], [54.81269836425781, 0.18915385007858276, 7.317715644836426], [54.81269836425781, 0.18915385007858276, 7.567715644836426], [54.81269836425781, 0.17040933668613434, 7.817715644836426], [54.81269836425781, 0.11888264119625092, 8.067715644836426], [54.81269836425781, 0.08020400255918503, 8.317715644836426], [54.81269836425781, 0.08020400255918503, 8.567715644836426], [54.81269836425781, 0.08020400255918503, 8.817715644836426], [54.81269836425781, 0.08020400255918503, 9.067715644836426], [54.81269836425781, 0.08020400255918503, 9.317715644836426], [54.81269836425781, 0.08020400255918503, 9.567715644836426], [54.81269836425781, 0.08020400255918503, 9.817715644836426], [54.81269836425781, 0.08020400255918503, 10.067715644836426], [54.81269836425781, 0.08020400255918503, 10.317715644836426], [54.81269836425781, 0.08020400255918503, 10.567715644836426], [54.81269836425781, 0.08020400255918503, 10.817715644836426], [54.74799346923828, 0.08020400255918503, 11.059197425842285], [54.68328857421875, 0.08020400255918503, 11.300679206848145], [54.61858367919922, 0.08020400255918503, 11.542160987854004], [54.55387878417969, 0.08020400255918503, 11.783642768859863], [54.489173889160156, 0.08020400255918503, 12.025124549865723], [54.424468994140625, 0.08020400255918503, 12.266606330871582], [54.359764099121094, 0.08020400255918503, 12.508088111877441], [54.359764099121094, 0.08020400255918503, 12.758088111877441], [54.359764099121094, 0.08020400255918503, 13.008088111877441]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 346, "episode_id": "347", "scene_id": "S9hNv5qa7GM", "instruction": "Walk into the hardwood floored room, heading towards the fireplace at the opposite end. Once you're at the fireplace, turn right and go into the room ahead of you. ", "start_position": [-6.296319961547852, 0.11627800017595291, -3.1083199977874756], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-0.24833600223064423, 0.11627800017595291, 0.22315900027751923], "goal_radius": 3.0, "reference_path": "[[-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-5.442669868469238, 0.11627800017595291, -3.1675500869750977], [-1.2861599922180176, 0.11627800017595291, -3.2813899517059326], [-0.6886190176010132, 0.11627800017595291, -1.5487099885940552], [-0.3137890100479126, 0.11627800017595291, -0.7869330048561096], [-0.24833600223064423, 0.11627800017595291, 0.22315900027751923]]", "geodesic_distance": 7.598890781402588, "gt_locations": "[[-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-6.046319961547852, 0.11627800017595291, -3.1083199977874756], [-5.796319961547852, 0.11627800017595291, -3.1083199977874756], [-5.55483865737915, 0.11627800017595291, -3.1730246543884277], [-5.313357353210449, 0.11627800017595291, -3.23772931098938], [-5.096850872039795, 0.11627800017595291, -3.36272931098938], [-4.880344390869141, 0.11627800017595291, -3.48772931098938], [-4.663837909698486, 0.11627800017595291, -3.61272931098938], [-4.447331428527832, 0.11627800017595291, -3.73772931098938], [-4.205850124359131, 0.11627800017595291, -3.802433967590332], [-3.9643685817718506, 0.11627800017595291, -3.867138624191284], [-3.7143685817718506, 0.11627800017595291, -3.894658088684082], [-3.4643685817718506, 0.11627800017595291, -3.894658088684082], [-3.2143685817718506, 0.11627800017595291, -3.894658088684082], [-2.9728870391845703, 0.11627800017595291, -3.959362745285034], [-2.7228870391845703, 0.11627800017595291, -3.959362745285034], [-2.4728870391845703, 0.11627800017595291, -3.959362745285034], [-2.256380796432495, 0.11627800017595291, -3.834362745285034], [-2.03987455368042, 0.11627800017595291, -3.709362745285034], [-1.8233681917190552, 0.11627800017595291, -3.584362745285034], [-1.6068618297576904, 0.11627800017595291, -3.459362745285034], [-1.4818618297576904, 0.11627800017595291, -3.24285626411438], [-1.3568618297576904, 0.11627800017595291, -3.0263497829437256], [-1.2318618297576904, 0.11627800017595291, -2.8098433017730713], [-1.1068618297576904, 0.11627800017595291, -2.593336820602417], [-0.9818618297576904, 0.11627800017595291, -2.3768303394317627], [-0.9171570539474487, 0.11627800017595291, -2.1353487968444824], [-0.852452278137207, 0.11627800017595291, -1.8938672542572021], [-0.727452278137207, 0.11627800017595291, -1.6773608922958374], [-0.602452278137207, 0.11627800017595291, -1.4608545303344727], [-0.47745227813720703, 0.11627800017595291, -1.244348168373108], [-0.4127475321292877, 0.11627800017595291, -1.0028667449951172], [-0.3480427861213684, 0.11627800017595291, -0.7613852620124817], [-0.2833380401134491, 0.11627800017595291, -0.5199037790298462], [-0.2833380699157715, 0.11627800017595291, -0.2699037790298462]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 347, "episode_id": "348", "scene_id": "S9hNv5qa7GM", "instruction": "Turn around and goo to the doorway on the far right of the living area, take a right and head towards the dining room table and stop. ", "start_position": [-6.296319961547852, 0.11627800017595291, -3.1083199977874756], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-0.24833600223064423, 0.11627800017595291, 0.22315900027751923], "goal_radius": 3.0, "reference_path": "[[-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-5.442669868469238, 0.11627800017595291, -3.1675500869750977], [-1.2861599922180176, 0.11627800017595291, -3.2813899517059326], [-0.6886190176010132, 0.11627800017595291, -1.5487099885940552], [-0.3137890100479126, 0.11627800017595291, -0.7869330048561096], [-0.24833600223064423, 0.11627800017595291, 0.22315900027751923]]", "geodesic_distance": 7.598890781402588, "gt_locations": "[[-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-6.046319961547852, 0.11627800017595291, -3.1083199977874756], [-5.796319961547852, 0.11627800017595291, -3.1083199977874756], [-5.55483865737915, 0.11627800017595291, -3.1730246543884277], [-5.313357353210449, 0.11627800017595291, -3.23772931098938], [-5.096850872039795, 0.11627800017595291, -3.36272931098938], [-4.880344390869141, 0.11627800017595291, -3.48772931098938], [-4.663837909698486, 0.11627800017595291, -3.61272931098938], [-4.447331428527832, 0.11627800017595291, -3.73772931098938], [-4.205850124359131, 0.11627800017595291, -3.802433967590332], [-3.9643685817718506, 0.11627800017595291, -3.867138624191284], [-3.7143685817718506, 0.11627800017595291, -3.894658088684082], [-3.4643685817718506, 0.11627800017595291, -3.894658088684082], [-3.2143685817718506, 0.11627800017595291, -3.894658088684082], [-2.9728870391845703, 0.11627800017595291, -3.959362745285034], [-2.7228870391845703, 0.11627800017595291, -3.959362745285034], [-2.4728870391845703, 0.11627800017595291, -3.959362745285034], [-2.256380796432495, 0.11627800017595291, -3.834362745285034], [-2.03987455368042, 0.11627800017595291, -3.709362745285034], [-1.8233681917190552, 0.11627800017595291, -3.584362745285034], [-1.6068618297576904, 0.11627800017595291, -3.459362745285034], [-1.4818618297576904, 0.11627800017595291, -3.24285626411438], [-1.3568618297576904, 0.11627800017595291, -3.0263497829437256], [-1.2318618297576904, 0.11627800017595291, -2.8098433017730713], [-1.1068618297576904, 0.11627800017595291, -2.593336820602417], [-0.9818618297576904, 0.11627800017595291, -2.3768303394317627], [-0.9171570539474487, 0.11627800017595291, -2.1353487968444824], [-0.852452278137207, 0.11627800017595291, -1.8938672542572021], [-0.727452278137207, 0.11627800017595291, -1.6773608922958374], [-0.602452278137207, 0.11627800017595291, -1.4608545303344727], [-0.47745227813720703, 0.11627800017595291, -1.244348168373108], [-0.4127475321292877, 0.11627800017595291, -1.0028667449951172], [-0.3480427861213684, 0.11627800017595291, -0.7613852620124817], [-0.2833380401134491, 0.11627800017595291, -0.5199037790298462], [-0.2833380699157715, 0.11627800017595291, -0.2699037790298462]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 348, "episode_id": "349", "scene_id": "S9hNv5qa7GM", "instruction": "Walk into the living room and through the doorway to the right of the fireplace. Wait inside the dining room door. ", "start_position": [-6.296319961547852, 0.11627800017595291, -3.1083199977874756], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-0.24833600223064423, 0.11627800017595291, 0.22315900027751923], "goal_radius": 3.0, "reference_path": "[[-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-5.442669868469238, 0.11627800017595291, -3.1675500869750977], [-1.2861599922180176, 0.11627800017595291, -3.2813899517059326], [-0.6886190176010132, 0.11627800017595291, -1.5487099885940552], [-0.3137890100479126, 0.11627800017595291, -0.7869330048561096], [-0.24833600223064423, 0.11627800017595291, 0.22315900027751923]]", "geodesic_distance": 7.598890781402588, "gt_locations": "[[-6.296319961547852, 0.11627800017595291, -3.1083199977874756], [-6.046319961547852, 0.11627800017595291, -3.1083199977874756], [-5.796319961547852, 0.11627800017595291, -3.1083199977874756], [-5.55483865737915, 0.11627800017595291, -3.1730246543884277], [-5.313357353210449, 0.11627800017595291, -3.23772931098938], [-5.096850872039795, 0.11627800017595291, -3.36272931098938], [-4.880344390869141, 0.11627800017595291, -3.48772931098938], [-4.663837909698486, 0.11627800017595291, -3.61272931098938], [-4.447331428527832, 0.11627800017595291, -3.73772931098938], [-4.205850124359131, 0.11627800017595291, -3.802433967590332], [-3.9643685817718506, 0.11627800017595291, -3.867138624191284], [-3.7143685817718506, 0.11627800017595291, -3.894658088684082], [-3.4643685817718506, 0.11627800017595291, -3.894658088684082], [-3.2143685817718506, 0.11627800017595291, -3.894658088684082], [-2.9728870391845703, 0.11627800017595291, -3.959362745285034], [-2.7228870391845703, 0.11627800017595291, -3.959362745285034], [-2.4728870391845703, 0.11627800017595291, -3.959362745285034], [-2.256380796432495, 0.11627800017595291, -3.834362745285034], [-2.03987455368042, 0.11627800017595291, -3.709362745285034], [-1.8233681917190552, 0.11627800017595291, -3.584362745285034], [-1.6068618297576904, 0.11627800017595291, -3.459362745285034], [-1.4818618297576904, 0.11627800017595291, -3.24285626411438], [-1.3568618297576904, 0.11627800017595291, -3.0263497829437256], [-1.2318618297576904, 0.11627800017595291, -2.8098433017730713], [-1.1068618297576904, 0.11627800017595291, -2.593336820602417], [-0.9818618297576904, 0.11627800017595291, -2.3768303394317627], [-0.9171570539474487, 0.11627800017595291, -2.1353487968444824], [-0.852452278137207, 0.11627800017595291, -1.8938672542572021], [-0.727452278137207, 0.11627800017595291, -1.6773608922958374], [-0.602452278137207, 0.11627800017595291, -1.4608545303344727], [-0.47745227813720703, 0.11627800017595291, -1.244348168373108], [-0.4127475321292877, 0.11627800017595291, -1.0028667449951172], [-0.3480427861213684, 0.11627800017595291, -0.7613852620124817], [-0.2833380401134491, 0.11627800017595291, -0.5199037790298462], [-0.2833380699157715, 0.11627800017595291, -0.2699037790298462]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 3, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 349, "episode_id": "350", "scene_id": "V2XKFyX4ASd", "instruction": "Exit the bathroom. Walk forward and go down the stairs. Stop four steps from the bottom. ", "start_position": [8.059459686279297, 2.9030959606170654, -0.5193996429443359], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [6.3933000564575195, 1.0866981744766235, -5.4926300048828125], "goal_radius": 3.0, "reference_path": "[[8.059459686279297, 2.9030959606170654, -0.5193996429443359], [9.365710258483887, 2.9030959606170654, -1.6631300449371338], [9.153800010681152, 2.875380039215088, -2.7065999507904053], [9.177820205688477, 2.7871642112731934, -3.9370100498199463], [8.289790153503418, 2.5147705078125, -5.536570072174072], [7.346179962158203, 1.7688448429107666, -5.512650012969971], [6.3933000564575195, 1.0866981744766235, -5.4926300048828125]]", "geodesic_distance": 8.636808395385742, "gt_locations": "[[8.059459686279297, 2.9030959606170654, -0.5193996429443359], [8.275965690612793, 2.9030959606170654, -0.6443996429443359], [8.452742576599121, 2.9030959606170654, -0.821176290512085], [8.669248580932617, 2.9030959606170654, -0.946176290512085], [8.885754585266113, 2.9030959606170654, -1.071176290512085], [9.062531471252441, 2.9030959606170654, -1.247952938079834], [9.23930835723877, 2.9030959606170654, -1.424729585647583], [9.23930835723877, 2.9030959606170654, -1.674729585647583], [9.24315357208252, 2.9030959606170654, -1.930497169494629], [9.24315357208252, 2.9030959606170654, -2.180497169494629], [9.178448677062988, 2.8993940353393555, -2.421978712081909], [9.178448677062988, 2.8772873878479004, -2.671978712081909], [9.178448677062988, 2.8551807403564453, -2.921978712081909], [9.178448677062988, 2.8330743312835693, -3.171978712081909], [9.178448677062988, 2.814126491546631, -3.421978712081909], [9.178448677062988, 2.800968647003174, -3.671978712081909], [9.24315357208252, 2.773359775543213, -3.9134602546691895], [9.30785846710205, 2.745751142501831, -4.154941558837891], [9.372563362121582, 2.718142509460449, -4.396422863006592], [9.451994895935059, 2.671879291534424, -4.642812728881836], [9.387290000915527, 2.52775502204895, -4.884294033050537], [9.170783996582031, 2.5334157943725586, -5.009294033050537], [8.954277992248535, 2.539076328277588, -5.134294033050537], [8.737771987915039, 2.6626946926116943, -5.259294033050537], [8.521265983581543, 2.670640468597412, -5.384294033050537], [8.304759979248047, 2.5230441093444824, -5.509294033050537], [8.08825397491455, 2.3565173149108887, -5.634294033050537], [7.8717474937438965, 2.1304450035095215, -5.759294033050537], [7.6153154373168945, 2.008612871170044, -5.772158622741699], [7.3653154373168945, 1.8734409809112549, -5.772158622741699], [7.1153154373168945, 1.706774353981018, -5.772158622741699], [6.8653154373168945, 1.5401076078414917, -5.772158622741699], [6.6153154373168945, 1.3587369918823242, -5.772158622741699]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 350, "episode_id": "351", "scene_id": "V2XKFyX4ASd", "instruction": "Walk out of the bathroom and forward toward the stairs. Turn left and walk down the stairs. Stop on the fourth stair from the bottom. ", "start_position": [8.059459686279297, 2.9030959606170654, -0.5193996429443359], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [6.3933000564575195, 1.0866981744766235, -5.4926300048828125], "goal_radius": 3.0, "reference_path": "[[8.059459686279297, 2.9030959606170654, -0.5193996429443359], [9.365710258483887, 2.9030959606170654, -1.6631300449371338], [9.153800010681152, 2.875380039215088, -2.7065999507904053], [9.177820205688477, 2.7871642112731934, -3.9370100498199463], [8.289790153503418, 2.5147705078125, -5.536570072174072], [7.346179962158203, 1.7688448429107666, -5.512650012969971], [6.3933000564575195, 1.0866981744766235, -5.4926300048828125]]", "geodesic_distance": 8.636808395385742, "gt_locations": "[[8.059459686279297, 2.9030959606170654, -0.5193996429443359], [8.275965690612793, 2.9030959606170654, -0.6443996429443359], [8.452742576599121, 2.9030959606170654, -0.821176290512085], [8.669248580932617, 2.9030959606170654, -0.946176290512085], [8.885754585266113, 2.9030959606170654, -1.071176290512085], [9.062531471252441, 2.9030959606170654, -1.247952938079834], [9.23930835723877, 2.9030959606170654, -1.424729585647583], [9.23930835723877, 2.9030959606170654, -1.674729585647583], [9.24315357208252, 2.9030959606170654, -1.930497169494629], [9.24315357208252, 2.9030959606170654, -2.180497169494629], [9.178448677062988, 2.8993940353393555, -2.421978712081909], [9.178448677062988, 2.8772873878479004, -2.671978712081909], [9.178448677062988, 2.8551807403564453, -2.921978712081909], [9.178448677062988, 2.8330743312835693, -3.171978712081909], [9.178448677062988, 2.814126491546631, -3.421978712081909], [9.178448677062988, 2.800968647003174, -3.671978712081909], [9.24315357208252, 2.773359775543213, -3.9134602546691895], [9.30785846710205, 2.745751142501831, -4.154941558837891], [9.372563362121582, 2.718142509460449, -4.396422863006592], [9.451994895935059, 2.671879291534424, -4.642812728881836], [9.387290000915527, 2.52775502204895, -4.884294033050537], [9.170783996582031, 2.5334157943725586, -5.009294033050537], [8.954277992248535, 2.539076328277588, -5.134294033050537], [8.737771987915039, 2.6626946926116943, -5.259294033050537], [8.521265983581543, 2.670640468597412, -5.384294033050537], [8.304759979248047, 2.5230441093444824, -5.509294033050537], [8.08825397491455, 2.3565173149108887, -5.634294033050537], [7.8717474937438965, 2.1304450035095215, -5.759294033050537], [7.6153154373168945, 2.008612871170044, -5.772158622741699], [7.3653154373168945, 1.8734409809112549, -5.772158622741699], [7.1153154373168945, 1.706774353981018, -5.772158622741699], [6.8653154373168945, 1.5401076078414917, -5.772158622741699], [6.6153154373168945, 1.3587369918823242, -5.772158622741699]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 351, "episode_id": "352", "scene_id": "V2XKFyX4ASd", "instruction": "Exit the shower and go to the bathroom door. Go straight towards the stairs. Go down the stairs and wait at the bottom. ", "start_position": [8.059459686279297, 2.9030959606170654, -0.5193996429443359], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [6.3933000564575195, 1.0866981744766235, -5.4926300048828125], "goal_radius": 3.0, "reference_path": "[[8.059459686279297, 2.9030959606170654, -0.5193996429443359], [9.365710258483887, 2.9030959606170654, -1.6631300449371338], [9.153800010681152, 2.875380039215088, -2.7065999507904053], [9.177820205688477, 2.7871642112731934, -3.9370100498199463], [8.289790153503418, 2.5147705078125, -5.536570072174072], [7.346179962158203, 1.7688448429107666, -5.512650012969971], [6.3933000564575195, 1.0866981744766235, -5.4926300048828125]]", "geodesic_distance": 8.636808395385742, "gt_locations": "[[8.059459686279297, 2.9030959606170654, -0.5193996429443359], [8.275965690612793, 2.9030959606170654, -0.6443996429443359], [8.452742576599121, 2.9030959606170654, -0.821176290512085], [8.669248580932617, 2.9030959606170654, -0.946176290512085], [8.885754585266113, 2.9030959606170654, -1.071176290512085], [9.062531471252441, 2.9030959606170654, -1.247952938079834], [9.23930835723877, 2.9030959606170654, -1.424729585647583], [9.23930835723877, 2.9030959606170654, -1.674729585647583], [9.24315357208252, 2.9030959606170654, -1.930497169494629], [9.24315357208252, 2.9030959606170654, -2.180497169494629], [9.178448677062988, 2.8993940353393555, -2.421978712081909], [9.178448677062988, 2.8772873878479004, -2.671978712081909], [9.178448677062988, 2.8551807403564453, -2.921978712081909], [9.178448677062988, 2.8330743312835693, -3.171978712081909], [9.178448677062988, 2.814126491546631, -3.421978712081909], [9.178448677062988, 2.800968647003174, -3.671978712081909], [9.24315357208252, 2.773359775543213, -3.9134602546691895], [9.30785846710205, 2.745751142501831, -4.154941558837891], [9.372563362121582, 2.718142509460449, -4.396422863006592], [9.451994895935059, 2.671879291534424, -4.642812728881836], [9.387290000915527, 2.52775502204895, -4.884294033050537], [9.170783996582031, 2.5334157943725586, -5.009294033050537], [8.954277992248535, 2.539076328277588, -5.134294033050537], [8.737771987915039, 2.6626946926116943, -5.259294033050537], [8.521265983581543, 2.670640468597412, -5.384294033050537], [8.304759979248047, 2.5230441093444824, -5.509294033050537], [8.08825397491455, 2.3565173149108887, -5.634294033050537], [7.8717474937438965, 2.1304450035095215, -5.759294033050537], [7.6153154373168945, 2.008612871170044, -5.772158622741699], [7.3653154373168945, 1.8734409809112549, -5.772158622741699], [7.1153154373168945, 1.706774353981018, -5.772158622741699], [6.8653154373168945, 1.5401076078414917, -5.772158622741699], [6.6153154373168945, 1.3587369918823242, -5.772158622741699]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 352, "episode_id": "353", "scene_id": "r1Q1Z4BcV1o", "instruction": "Walk toward the Urinals. Take a left and exit the restroom. Walk by the drinking fountain. Exit through the doorway on the right. Wait there. ", "start_position": [-13.413100242614746, 0.07537198066711426, 2.8805301189422607], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-7.015729904174805, 0.07537198066711426, 1.3974499702453613], "goal_radius": 3.0, "reference_path": "[[-13.413100242614746, 0.07537198066711426, 2.8805301189422607], [-11.117899894714355, 0.07537198066711426, 3.7648799419403076], [-9.405229568481445, 0.07537198066711426, 3.738070011138916], [-9.298979759216309, 0.07537198066711426, 2.697089910507202], [-8.850629806518555, 0.07537198066711426, 1.3819500207901], [-7.015729904174805, 0.07537198066711426, 1.3974499702453613]]", "geodesic_distance": 7.727149963378906, "gt_locations": "[[-13.413100242614746, 0.07537198066711426, 2.8805301189422607], [-13.19659423828125, 0.07537198066711426, 3.0055301189422607], [-12.980088233947754, 0.07537198066711426, 3.1305301189422607], [-12.738606452941895, 0.07537198066711426, 3.195235013961792], [-12.497124671936035, 0.07537198066711426, 3.2599399089813232], [-12.255642890930176, 0.07537198066711426, 3.3246448040008545], [-12.014161109924316, 0.07537198066711426, 3.3893496990203857], [-11.772679328918457, 0.07537198066711426, 3.454054594039917], [-11.556173324584961, 0.07537198066711426, 3.579054594039917], [-11.314691543579102, 0.07537198066711426, 3.6437594890594482], [-11.073209762573242, 0.07537198066711426, 3.7084643840789795], [-10.831727981567383, 0.07537198066711426, 3.7731692790985107], [-10.590246200561523, 0.07537198066711426, 3.837874174118042], [-10.340246200561523, 0.07537198066711426, 3.837874174118042], [-10.090246200561523, 0.07537198066711426, 3.837874174118042], [-9.840246200561523, 0.07537198066711426, 3.837874174118042], [-9.663469314575195, 0.07537198066711426, 3.661097526550293], [-9.538469314575195, 0.07537198066711426, 3.4445912837982178], [-9.473764419555664, 0.07537198066711426, 3.2031097412109375], [-9.409059524536133, 0.07537198066711426, 2.9616281986236572], [-9.344354629516602, 0.07537198066711426, 2.720146656036377], [-9.27964973449707, 0.07537198066711426, 2.4786651134490967], [-9.214944839477539, 0.07537198066711426, 2.2371835708618164], [-9.150239944458008, 0.07537198066711426, 1.9957021474838257], [-9.025239944458008, 0.07537198066711426, 1.779195785522461], [-8.783758163452148, 0.07537198066711426, 1.7144910097122192], [-8.542276382446289, 0.07537198066711426, 1.6497862339019775], [-8.30079460144043, 0.07537198066711426, 1.5850814580917358], [-8.05931282043457, 0.07537198066711426, 1.5203766822814941], [-7.817831516265869, 0.07537198066711426, 1.4556719064712524], [-7.567831516265869, 0.07537198066711426, 1.4556719064712524], [-7.317831516265869, 0.07537198066711426, 1.4556719064712524]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 353, "episode_id": "354", "scene_id": "r1Q1Z4BcV1o", "instruction": "Leave the bathroom and take a right. Enter the main room and walk till you have passed the white tables on either side. Stop just right of the small, round table. ", "start_position": [-13.413100242614746, 0.07537198066711426, 2.8805301189422607], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-7.015729904174805, 0.07537198066711426, 1.3974499702453613], "goal_radius": 3.0, "reference_path": "[[-13.413100242614746, 0.07537198066711426, 2.8805301189422607], [-11.117899894714355, 0.07537198066711426, 3.7648799419403076], [-9.405229568481445, 0.07537198066711426, 3.738070011138916], [-9.298979759216309, 0.07537198066711426, 2.697089910507202], [-8.850629806518555, 0.07537198066711426, 1.3819500207901], [-7.015729904174805, 0.07537198066711426, 1.3974499702453613]]", "geodesic_distance": 7.727149963378906, "gt_locations": "[[-13.413100242614746, 0.07537198066711426, 2.8805301189422607], [-13.19659423828125, 0.07537198066711426, 3.0055301189422607], [-12.980088233947754, 0.07537198066711426, 3.1305301189422607], [-12.738606452941895, 0.07537198066711426, 3.195235013961792], [-12.497124671936035, 0.07537198066711426, 3.2599399089813232], [-12.255642890930176, 0.07537198066711426, 3.3246448040008545], [-12.014161109924316, 0.07537198066711426, 3.3893496990203857], [-11.772679328918457, 0.07537198066711426, 3.454054594039917], [-11.556173324584961, 0.07537198066711426, 3.579054594039917], [-11.314691543579102, 0.07537198066711426, 3.6437594890594482], [-11.073209762573242, 0.07537198066711426, 3.7084643840789795], [-10.831727981567383, 0.07537198066711426, 3.7731692790985107], [-10.590246200561523, 0.07537198066711426, 3.837874174118042], [-10.340246200561523, 0.07537198066711426, 3.837874174118042], [-10.090246200561523, 0.07537198066711426, 3.837874174118042], [-9.840246200561523, 0.07537198066711426, 3.837874174118042], [-9.663469314575195, 0.07537198066711426, 3.661097526550293], [-9.538469314575195, 0.07537198066711426, 3.4445912837982178], [-9.473764419555664, 0.07537198066711426, 3.2031097412109375], [-9.409059524536133, 0.07537198066711426, 2.9616281986236572], [-9.344354629516602, 0.07537198066711426, 2.720146656036377], [-9.27964973449707, 0.07537198066711426, 2.4786651134490967], [-9.214944839477539, 0.07537198066711426, 2.2371835708618164], [-9.150239944458008, 0.07537198066711426, 1.9957021474838257], [-9.025239944458008, 0.07537198066711426, 1.779195785522461], [-8.783758163452148, 0.07537198066711426, 1.7144910097122192], [-8.542276382446289, 0.07537198066711426, 1.6497862339019775], [-8.30079460144043, 0.07537198066711426, 1.5850814580917358], [-8.05931282043457, 0.07537198066711426, 1.5203766822814941], [-7.817831516265869, 0.07537198066711426, 1.4556719064712524], [-7.567831516265869, 0.07537198066711426, 1.4556719064712524], [-7.317831516265869, 0.07537198066711426, 1.4556719064712524]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 354, "episode_id": "355", "scene_id": "r1Q1Z4BcV1o", "instruction": "walk out the bathroom, left turn then turn right and stop near the small table. ", "start_position": [-13.413100242614746, 0.07537198066711426, 2.8805301189422607], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-7.015729904174805, 0.07537198066711426, 1.3974499702453613], "goal_radius": 3.0, "reference_path": "[[-13.413100242614746, 0.07537198066711426, 2.8805301189422607], [-11.117899894714355, 0.07537198066711426, 3.7648799419403076], [-9.405229568481445, 0.07537198066711426, 3.738070011138916], [-9.298979759216309, 0.07537198066711426, 2.697089910507202], [-8.850629806518555, 0.07537198066711426, 1.3819500207901], [-7.015729904174805, 0.07537198066711426, 1.3974499702453613]]", "geodesic_distance": 7.727149963378906, "gt_locations": "[[-13.413100242614746, 0.07537198066711426, 2.8805301189422607], [-13.19659423828125, 0.07537198066711426, 3.0055301189422607], [-12.980088233947754, 0.07537198066711426, 3.1305301189422607], [-12.738606452941895, 0.07537198066711426, 3.195235013961792], [-12.497124671936035, 0.07537198066711426, 3.2599399089813232], [-12.255642890930176, 0.07537198066711426, 3.3246448040008545], [-12.014161109924316, 0.07537198066711426, 3.3893496990203857], [-11.772679328918457, 0.07537198066711426, 3.454054594039917], [-11.556173324584961, 0.07537198066711426, 3.579054594039917], [-11.314691543579102, 0.07537198066711426, 3.6437594890594482], [-11.073209762573242, 0.07537198066711426, 3.7084643840789795], [-10.831727981567383, 0.07537198066711426, 3.7731692790985107], [-10.590246200561523, 0.07537198066711426, 3.837874174118042], [-10.340246200561523, 0.07537198066711426, 3.837874174118042], [-10.090246200561523, 0.07537198066711426, 3.837874174118042], [-9.840246200561523, 0.07537198066711426, 3.837874174118042], [-9.663469314575195, 0.07537198066711426, 3.661097526550293], [-9.538469314575195, 0.07537198066711426, 3.4445912837982178], [-9.473764419555664, 0.07537198066711426, 3.2031097412109375], [-9.409059524536133, 0.07537198066711426, 2.9616281986236572], [-9.344354629516602, 0.07537198066711426, 2.720146656036377], [-9.27964973449707, 0.07537198066711426, 2.4786651134490967], [-9.214944839477539, 0.07537198066711426, 2.2371835708618164], [-9.150239944458008, 0.07537198066711426, 1.9957021474838257], [-9.025239944458008, 0.07537198066711426, 1.779195785522461], [-8.783758163452148, 0.07537198066711426, 1.7144910097122192], [-8.542276382446289, 0.07537198066711426, 1.6497862339019775], [-8.30079460144043, 0.07537198066711426, 1.5850814580917358], [-8.05931282043457, 0.07537198066711426, 1.5203766822814941], [-7.817831516265869, 0.07537198066711426, 1.4556719064712524], [-7.567831516265869, 0.07537198066711426, 1.4556719064712524], [-7.317831516265869, 0.07537198066711426, 1.4556719064712524]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 355, "episode_id": "356", "scene_id": "EDJbREhghzL", "instruction": "Exit the en suite bathroom, bedroom and sitting area into the hall. Turn left and wait in the alcove by the fireplace. ", "start_position": [3.283629894256592, 0.1033330038189888, -0.7044199705123901], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.4173099994659424, 0.1033330038189888, 3.329440116882324], "goal_radius": 3.0, "reference_path": "[[3.283629894256592, 0.1033330038189888, -0.7044199705123901], [2.1022799015045166, 0.1033330038189888, -0.7889940142631531], [0.9069300293922424, 0.1033330038189888, -0.33406201004981995], [-0.3157010078430176, 0.1033330038189888, -0.1235010027885437], [-1.5436700582504272, 0.1033330038189888, 2.1442298889160156], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [1.4173099994659424, 0.1033330038189888, 3.329440116882324]]", "geodesic_distance": 8.813547134399414, "gt_locations": "[[3.283629894256592, 0.1033330038189888, -0.7044199705123901], [3.033629894256592, 0.1033330038189888, -0.7044199705123901], [2.783629894256592, 0.1033330038189888, -0.7044199705123901], [2.5421483516693115, 0.1033330038189888, -0.7691247463226318], [2.2921483516693115, 0.1033330038189888, -0.7691247463226318], [2.0506668090820312, 0.1033330038189888, -0.7044199705123901], [1.809185266494751, 0.1033330038189888, -0.6397151947021484], [1.5677037239074707, 0.1033330038189888, -0.5750104188919067], [1.3262221813201904, 0.1033330038189888, -0.510305643081665], [1.0847406387329102, 0.1033330038189888, -0.44560083746910095], [0.8347406387329102, 0.1033330038189888, -0.44560086727142334], [0.5847406387329102, 0.1033330038189888, -0.44560086727142334], [0.34325915575027466, 0.1033330038189888, -0.38089612126350403], [0.10177768766880035, 0.1033330038189888, -0.3161913752555847], [-0.07499904930591583, 0.1033330038189888, -0.13941463828086853], [-0.2517758011817932, 0.1033330038189888, 0.037362098693847656], [-0.4285525381565094, 0.1033330038189888, 0.21413883566856384], [-0.6053292751312256, 0.1033330038189888, 0.39091557264328003], [-0.7821060419082642, 0.1033330038189888, 0.5676922798156738], [-0.9071060419082642, 0.1033330038189888, 0.7841986417770386], [-1.0838828086853027, 0.1033330038189888, 0.9609754085540771], [-1.2088828086853027, 0.1033330038189888, 1.177481770515442], [-1.3338828086853027, 0.1033330038189888, 1.3939881324768066], [-1.3985875844955444, 0.1033330038189888, 1.635469675064087], [-1.4632923603057861, 0.1033330038189888, 1.8769512176513672], [-1.286515712738037, 0.1033330038189888, 2.0537281036376953], [-1.109739065170288, 0.1033330038189888, 2.2305049896240234], [-0.8932327032089233, 0.1033330038189888, 2.3555049896240234], [-0.6767263412475586, 0.1033330038189888, 2.4805049896240234], [-0.46022000908851624, 0.1033330038189888, 2.6055049896240234], [-0.21873854100704193, 0.1033330038189888, 2.6702098846435547], [0.022742927074432373, 0.1033330038189888, 2.734914779663086], [0.26422441005706787, 0.1033330038189888, 2.799619674682617], [0.5057058930397034, 0.1033330038189888, 2.8643245697021484], [0.7222122550010681, 0.1033330038189888, 2.9893245697021484], [0.9636937379837036, 0.1033330038189888, 3.0540294647216797], [1.1802000999450684, 0.1033330038189888, 3.1790294647216797]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 1, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 0]"}
{"id": 356, "episode_id": "357", "scene_id": "EDJbREhghzL", "instruction": "Exit bathroom, walk past bed to doors, exit bedroom turn left, walk down hall and wait by fireplace. ", "start_position": [3.283629894256592, 0.1033330038189888, -0.7044199705123901], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.4173099994659424, 0.1033330038189888, 3.329440116882324], "goal_radius": 3.0, "reference_path": "[[3.283629894256592, 0.1033330038189888, -0.7044199705123901], [2.1022799015045166, 0.1033330038189888, -0.7889940142631531], [0.9069300293922424, 0.1033330038189888, -0.33406201004981995], [-0.3157010078430176, 0.1033330038189888, -0.1235010027885437], [-1.5436700582504272, 0.1033330038189888, 2.1442298889160156], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [1.4173099994659424, 0.1033330038189888, 3.329440116882324]]", "geodesic_distance": 8.813547134399414, "gt_locations": "[[3.283629894256592, 0.1033330038189888, -0.7044199705123901], [3.033629894256592, 0.1033330038189888, -0.7044199705123901], [2.783629894256592, 0.1033330038189888, -0.7044199705123901], [2.5421483516693115, 0.1033330038189888, -0.7691247463226318], [2.2921483516693115, 0.1033330038189888, -0.7691247463226318], [2.0506668090820312, 0.1033330038189888, -0.7044199705123901], [1.809185266494751, 0.1033330038189888, -0.6397151947021484], [1.5677037239074707, 0.1033330038189888, -0.5750104188919067], [1.3262221813201904, 0.1033330038189888, -0.510305643081665], [1.0847406387329102, 0.1033330038189888, -0.44560083746910095], [0.8347406387329102, 0.1033330038189888, -0.44560086727142334], [0.5847406387329102, 0.1033330038189888, -0.44560086727142334], [0.34325915575027466, 0.1033330038189888, -0.38089612126350403], [0.10177768766880035, 0.1033330038189888, -0.3161913752555847], [-0.07499904930591583, 0.1033330038189888, -0.13941463828086853], [-0.2517758011817932, 0.1033330038189888, 0.037362098693847656], [-0.4285525381565094, 0.1033330038189888, 0.21413883566856384], [-0.6053292751312256, 0.1033330038189888, 0.39091557264328003], [-0.7821060419082642, 0.1033330038189888, 0.5676922798156738], [-0.9071060419082642, 0.1033330038189888, 0.7841986417770386], [-1.0838828086853027, 0.1033330038189888, 0.9609754085540771], [-1.2088828086853027, 0.1033330038189888, 1.177481770515442], [-1.3338828086853027, 0.1033330038189888, 1.3939881324768066], [-1.3985875844955444, 0.1033330038189888, 1.635469675064087], [-1.4632923603057861, 0.1033330038189888, 1.8769512176513672], [-1.286515712738037, 0.1033330038189888, 2.0537281036376953], [-1.109739065170288, 0.1033330038189888, 2.2305049896240234], [-0.8932327032089233, 0.1033330038189888, 2.3555049896240234], [-0.6767263412475586, 0.1033330038189888, 2.4805049896240234], [-0.46022000908851624, 0.1033330038189888, 2.6055049896240234], [-0.21873854100704193, 0.1033330038189888, 2.6702098846435547], [0.022742927074432373, 0.1033330038189888, 2.734914779663086], [0.26422441005706787, 0.1033330038189888, 2.799619674682617], [0.5057058930397034, 0.1033330038189888, 2.8643245697021484], [0.7222122550010681, 0.1033330038189888, 2.9893245697021484], [0.9636937379837036, 0.1033330038189888, 3.0540294647216797], [1.1802000999450684, 0.1033330038189888, 3.1790294647216797]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 1, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 0]"}
{"id": 357, "episode_id": "358", "scene_id": "EDJbREhghzL", "instruction": "Exit the bathroom, walking past the foot of the bed and exiting though the double doors to the right of the head of the bed towards your left. After exiting the bedroom, take a hard left turn and walk forward until there's a pair of leather covered chairs and a fireplace to your right. ", "start_position": [3.283629894256592, 0.1033330038189888, -0.7044199705123901], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [1.4173099994659424, 0.1033330038189888, 3.329440116882324], "goal_radius": 3.0, "reference_path": "[[3.283629894256592, 0.1033330038189888, -0.7044199705123901], [2.1022799015045166, 0.1033330038189888, -0.7889940142631531], [0.9069300293922424, 0.1033330038189888, -0.33406201004981995], [-0.3157010078430176, 0.1033330038189888, -0.1235010027885437], [-1.5436700582504272, 0.1033330038189888, 2.1442298889160156], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [1.4173099994659424, 0.1033330038189888, 3.329440116882324]]", "geodesic_distance": 8.813547134399414, "gt_locations": "[[3.283629894256592, 0.1033330038189888, -0.7044199705123901], [3.033629894256592, 0.1033330038189888, -0.7044199705123901], [2.783629894256592, 0.1033330038189888, -0.7044199705123901], [2.5421483516693115, 0.1033330038189888, -0.7691247463226318], [2.2921483516693115, 0.1033330038189888, -0.7691247463226318], [2.0506668090820312, 0.1033330038189888, -0.7044199705123901], [1.809185266494751, 0.1033330038189888, -0.6397151947021484], [1.5677037239074707, 0.1033330038189888, -0.5750104188919067], [1.3262221813201904, 0.1033330038189888, -0.510305643081665], [1.0847406387329102, 0.1033330038189888, -0.44560083746910095], [0.8347406387329102, 0.1033330038189888, -0.44560086727142334], [0.5847406387329102, 0.1033330038189888, -0.44560086727142334], [0.34325915575027466, 0.1033330038189888, -0.38089612126350403], [0.10177768766880035, 0.1033330038189888, -0.3161913752555847], [-0.07499904930591583, 0.1033330038189888, -0.13941463828086853], [-0.2517758011817932, 0.1033330038189888, 0.037362098693847656], [-0.4285525381565094, 0.1033330038189888, 0.21413883566856384], [-0.6053292751312256, 0.1033330038189888, 0.39091557264328003], [-0.7821060419082642, 0.1033330038189888, 0.5676922798156738], [-0.9071060419082642, 0.1033330038189888, 0.7841986417770386], [-1.0838828086853027, 0.1033330038189888, 0.9609754085540771], [-1.2088828086853027, 0.1033330038189888, 1.177481770515442], [-1.3338828086853027, 0.1033330038189888, 1.3939881324768066], [-1.3985875844955444, 0.1033330038189888, 1.635469675064087], [-1.4632923603057861, 0.1033330038189888, 1.8769512176513672], [-1.286515712738037, 0.1033330038189888, 2.0537281036376953], [-1.109739065170288, 0.1033330038189888, 2.2305049896240234], [-0.8932327032089233, 0.1033330038189888, 2.3555049896240234], [-0.6767263412475586, 0.1033330038189888, 2.4805049896240234], [-0.46022000908851624, 0.1033330038189888, 2.6055049896240234], [-0.21873854100704193, 0.1033330038189888, 2.6702098846435547], [0.022742927074432373, 0.1033330038189888, 2.734914779663086], [0.26422441005706787, 0.1033330038189888, 2.799619674682617], [0.5057058930397034, 0.1033330038189888, 2.8643245697021484], [0.7222122550010681, 0.1033330038189888, 2.9893245697021484], [0.9636937379837036, 0.1033330038189888, 3.0540294647216797], [1.1802000999450684, 0.1033330038189888, 3.1790294647216797]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 1, 2, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 0]"}
{"id": 358, "episode_id": "359", "scene_id": "r47D5H71a5s", "instruction": "Walk down the narrow hall to the door and out the door  Walk into the main room turn past some pictures on the wall and through the door into a locker room and wait. ", "start_position": [-3.8401401042938232, 0.09863299131393433, -5.94242000579834], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.0321400165557861, 0.09863299131393433, -9.367389678955078], "goal_radius": 3.0, "reference_path": "[[-3.8401401042938232, 0.09863299131393433, -5.94242000579834], [-2.552680015563965, 0.09863299131393433, -6.190989971160889], [-0.22695299983024597, 0.09863299131393433, -5.435009956359863], [0.8934239745140076, 0.09863299131393433, -5.379049777984619], [1.6939400434494019, 0.09863299131393433, -6.452199935913086], [0.6053869724273682, 0.09863299131393433, -8.498109817504883], [1.0321400165557861, 0.09863299131393433, -9.367389678955078]]", "geodesic_distance": 8.789620399475098, "gt_locations": "[[-3.8401401042938232, 0.09863299131393433, -5.94242000579834], [-3.598658561706543, 0.09863299131393433, -6.007124900817871], [-3.3571770191192627, 0.09863299131393433, -6.071829795837402], [-3.1156954765319824, 0.09863299131393433, -6.136534690856934], [-2.8656954765319824, 0.09863299131393433, -6.136534690856934], [-2.624213933944702, 0.09863299131393433, -6.071829795837402], [-2.382732391357422, 0.09863299131393433, -6.007124900817871], [-2.1412508487701416, 0.09863299131393433, -5.94242000579834], [-1.8997694253921509, 0.09863299131393433, -5.877715110778809], [-1.6582880020141602, 0.09863299131393433, -5.813010215759277], [-1.4168065786361694, 0.09863299131393433, -5.748305320739746], [-1.1753251552581787, 0.09863299131393433, -5.683600425720215], [-0.9338436722755432, 0.09863299131393433, -5.618895530700684], [-0.6923621892929077, 0.09863299131393433, -5.554190635681152], [-0.4508807063102722, 0.09863299131393433, -5.489485740661621], [-0.20088067650794983, 0.09863299131393433, -5.489485740661621], [0.04911935329437256, 0.09863299131393433, -5.489485740661621], [0.29911938309669495, 0.09863299131393433, -5.489485740661621], [0.5406008958816528, 0.09863299131393433, -5.42478084564209], [0.7820823788642883, 0.09863299131393433, -5.489485740661621], [1.0235638618469238, 0.09863299131393433, -5.554190635681152], [1.1749213933944702, 0.09863299131393433, -5.769984722137451], [1.2999213933944702, 0.09863299131393433, -5.9864912033081055], [1.4766980409622192, 0.09863299131393433, -6.163268089294434], [1.4119932651519775, 0.09863299131393433, -6.404749393463135], [1.4119932651519775, 0.09863299131393433, -6.654749393463135], [1.4119932651519775, 0.09863299131393433, -6.904749393463135], [1.3472884893417358, 0.09863299131393433, -7.146230697631836], [1.2825837135314941, 0.09863299131393433, -7.387712001800537], [1.1575837135314941, 0.09863299131393433, -7.604953765869141], [1.0325837135314941, 0.09863299131393433, -7.821460247039795], [0.9075837135314941, 0.09863299131393433, -8.03796672821045], [0.7825837135314941, 0.09863299131393433, -8.254472732543945], [0.8472884893417358, 0.09863299131393433, -8.495954513549805], [0.9119932651519775, 0.09863299131393433, -8.737436294555664], [0.9766980409622192, 0.09863299131393433, -8.978918075561523]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 2, 2, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 359, "episode_id": "360", "scene_id": "r47D5H71a5s", "instruction": "Exit the bathroom, make a sharp left into another bathroom, step into the bathroom and wait. ", "start_position": [-3.8401401042938232, 0.09863299131393433, -5.94242000579834], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.0321400165557861, 0.09863299131393433, -9.367389678955078], "goal_radius": 3.0, "reference_path": "[[-3.8401401042938232, 0.09863299131393433, -5.94242000579834], [-2.552680015563965, 0.09863299131393433, -6.190989971160889], [-0.22695299983024597, 0.09863299131393433, -5.435009956359863], [0.8934239745140076, 0.09863299131393433, -5.379049777984619], [1.6939400434494019, 0.09863299131393433, -6.452199935913086], [0.6053869724273682, 0.09863299131393433, -8.498109817504883], [1.0321400165557861, 0.09863299131393433, -9.367389678955078]]", "geodesic_distance": 8.789620399475098, "gt_locations": "[[-3.8401401042938232, 0.09863299131393433, -5.94242000579834], [-3.598658561706543, 0.09863299131393433, -6.007124900817871], [-3.3571770191192627, 0.09863299131393433, -6.071829795837402], [-3.1156954765319824, 0.09863299131393433, -6.136534690856934], [-2.8656954765319824, 0.09863299131393433, -6.136534690856934], [-2.624213933944702, 0.09863299131393433, -6.071829795837402], [-2.382732391357422, 0.09863299131393433, -6.007124900817871], [-2.1412508487701416, 0.09863299131393433, -5.94242000579834], [-1.8997694253921509, 0.09863299131393433, -5.877715110778809], [-1.6582880020141602, 0.09863299131393433, -5.813010215759277], [-1.4168065786361694, 0.09863299131393433, -5.748305320739746], [-1.1753251552581787, 0.09863299131393433, -5.683600425720215], [-0.9338436722755432, 0.09863299131393433, -5.618895530700684], [-0.6923621892929077, 0.09863299131393433, -5.554190635681152], [-0.4508807063102722, 0.09863299131393433, -5.489485740661621], [-0.20088067650794983, 0.09863299131393433, -5.489485740661621], [0.04911935329437256, 0.09863299131393433, -5.489485740661621], [0.29911938309669495, 0.09863299131393433, -5.489485740661621], [0.5406008958816528, 0.09863299131393433, -5.42478084564209], [0.7820823788642883, 0.09863299131393433, -5.489485740661621], [1.0235638618469238, 0.09863299131393433, -5.554190635681152], [1.1749213933944702, 0.09863299131393433, -5.769984722137451], [1.2999213933944702, 0.09863299131393433, -5.9864912033081055], [1.4766980409622192, 0.09863299131393433, -6.163268089294434], [1.4119932651519775, 0.09863299131393433, -6.404749393463135], [1.4119932651519775, 0.09863299131393433, -6.654749393463135], [1.4119932651519775, 0.09863299131393433, -6.904749393463135], [1.3472884893417358, 0.09863299131393433, -7.146230697631836], [1.2825837135314941, 0.09863299131393433, -7.387712001800537], [1.1575837135314941, 0.09863299131393433, -7.604953765869141], [1.0325837135314941, 0.09863299131393433, -7.821460247039795], [0.9075837135314941, 0.09863299131393433, -8.03796672821045], [0.7825837135314941, 0.09863299131393433, -8.254472732543945], [0.8472884893417358, 0.09863299131393433, -8.495954513549805], [0.9119932651519775, 0.09863299131393433, -8.737436294555664], [0.9766980409622192, 0.09863299131393433, -8.978918075561523]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 2, 2, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 360, "episode_id": "361", "scene_id": "r47D5H71a5s", "instruction": "Go straight then slightly right to continue going straight.Exit the room then turn left and go into the room next door.  Turn right and go past the wall with the holes in it. Wait near the lockers. ", "start_position": [-3.8401401042938232, 0.09863299131393433, -5.94242000579834], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.0321400165557861, 0.09863299131393433, -9.367389678955078], "goal_radius": 3.0, "reference_path": "[[-3.8401401042938232, 0.09863299131393433, -5.94242000579834], [-2.552680015563965, 0.09863299131393433, -6.190989971160889], [-0.22695299983024597, 0.09863299131393433, -5.435009956359863], [0.8934239745140076, 0.09863299131393433, -5.379049777984619], [1.6939400434494019, 0.09863299131393433, -6.452199935913086], [0.6053869724273682, 0.09863299131393433, -8.498109817504883], [1.0321400165557861, 0.09863299131393433, -9.367389678955078]]", "geodesic_distance": 8.789620399475098, "gt_locations": "[[-3.8401401042938232, 0.09863299131393433, -5.94242000579834], [-3.598658561706543, 0.09863299131393433, -6.007124900817871], [-3.3571770191192627, 0.09863299131393433, -6.071829795837402], [-3.1156954765319824, 0.09863299131393433, -6.136534690856934], [-2.8656954765319824, 0.09863299131393433, -6.136534690856934], [-2.624213933944702, 0.09863299131393433, -6.071829795837402], [-2.382732391357422, 0.09863299131393433, -6.007124900817871], [-2.1412508487701416, 0.09863299131393433, -5.94242000579834], [-1.8997694253921509, 0.09863299131393433, -5.877715110778809], [-1.6582880020141602, 0.09863299131393433, -5.813010215759277], [-1.4168065786361694, 0.09863299131393433, -5.748305320739746], [-1.1753251552581787, 0.09863299131393433, -5.683600425720215], [-0.9338436722755432, 0.09863299131393433, -5.618895530700684], [-0.6923621892929077, 0.09863299131393433, -5.554190635681152], [-0.4508807063102722, 0.09863299131393433, -5.489485740661621], [-0.20088067650794983, 0.09863299131393433, -5.489485740661621], [0.04911935329437256, 0.09863299131393433, -5.489485740661621], [0.29911938309669495, 0.09863299131393433, -5.489485740661621], [0.5406008958816528, 0.09863299131393433, -5.42478084564209], [0.7820823788642883, 0.09863299131393433, -5.489485740661621], [1.0235638618469238, 0.09863299131393433, -5.554190635681152], [1.1749213933944702, 0.09863299131393433, -5.769984722137451], [1.2999213933944702, 0.09863299131393433, -5.9864912033081055], [1.4766980409622192, 0.09863299131393433, -6.163268089294434], [1.4119932651519775, 0.09863299131393433, -6.404749393463135], [1.4119932651519775, 0.09863299131393433, -6.654749393463135], [1.4119932651519775, 0.09863299131393433, -6.904749393463135], [1.3472884893417358, 0.09863299131393433, -7.146230697631836], [1.2825837135314941, 0.09863299131393433, -7.387712001800537], [1.1575837135314941, 0.09863299131393433, -7.604953765869141], [1.0325837135314941, 0.09863299131393433, -7.821460247039795], [0.9075837135314941, 0.09863299131393433, -8.03796672821045], [0.7825837135314941, 0.09863299131393433, -8.254472732543945], [0.8472884893417358, 0.09863299131393433, -8.495954513549805], [0.9119932651519775, 0.09863299131393433, -8.737436294555664], [0.9766980409622192, 0.09863299131393433, -8.978918075561523]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 2, 2, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 361, "episode_id": "362", "scene_id": "p5wJjkQkbXX", "instruction": "Exit the bedroom. Walk past the painting on the right. Make a right, and walk past the vent in the ceiling. Make a right through the open door. Wait in the door's threshold. ", "start_position": [6.5772199630737305, 0.03397093713283539, 3.3997199535369873], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [9.968469619750977, 0.10311373323202133, -2.8969900608062744], "goal_radius": 3.0, "reference_path": "[[6.5772199630737305, 0.03397093713283539, 3.3997199535369873], [6.434700012207031, 0.07038337737321854, 2.030519962310791], [5.666470050811768, 0.21126818656921387, 0.20743800699710846], [7.431449890136719, 0.21126818656921387, -1.7479300498962402], [9.968469619750977, 0.10311373323202133, -2.8969900608062744]]", "geodesic_distance": 7.999098777770996, "gt_locations": "[[6.5772199630737305, 0.03397093713283539, 3.3997199535369873], [6.5772199630737305, 0.011268138885498047, 3.1497199535369873], [6.5772199630737305, 0.04431542381644249, 2.8997199535369873], [6.5772199630737305, 0.09516309201717377, 2.6497199535369873], [6.512515068054199, 0.11140882223844528, 2.408238410949707], [6.447810173034668, 0.1355595588684082, 2.1667568683624268], [6.383105278015137, 0.03516398370265961, 1.925275444984436], [6.3184003829956055, 0.011268138885498047, 1.6837940216064453], [6.253695487976074, 0.011268138885498047, 1.4423125982284546], [6.128695487976074, 0.011268138885498047, 1.2258062362670898], [6.003695487976074, 0.011268138885498047, 1.009299874305725], [5.878695487976074, 0.03151824325323105, 0.7927935123443604], [5.813990592956543, 0.06967823952436447, 0.5513120889663696], [5.938990592956543, 0.10547779500484467, 0.3348057270050049], [6.063990592956543, 0.17592716217041016, 0.11829937994480133], [6.188990592956543, 0.21126818656921387, -0.09820696711540222], [6.313990592956543, 0.21126818656921387, -0.3147132992744446], [6.438990592956543, 0.21126818656921387, -0.5312196612358093], [6.563990592956543, 0.21126818656921387, -0.7477260231971741], [6.740767478942871, 0.21126818656921387, -0.9245027303695679], [6.917544364929199, 0.21126818656921387, -1.101279377937317], [7.094321250915527, 0.21126818656921387, -1.278056025505066], [7.219321250915527, 0.21126818656921387, -1.4945623874664307], [7.435827732086182, 0.21126818656921387, -1.6195623874664307], [7.652334213256836, 0.21126818656921387, -1.7445623874664307], [7.86884069442749, 0.21126818656921387, -1.8695623874664307], [8.085347175598145, 0.21126818656921387, -1.9945623874664307], [8.262124061584473, 0.21126818656921387, -2.1713390350341797], [8.4389009475708, 0.21126818656921387, -2.3481156826019287], [8.655406951904297, 0.20875990390777588, -2.4731156826019287], [8.896888732910156, 0.21126818656921387, -2.53782057762146], [9.138370513916016, 0.21126818656921387, -2.602525472640991], [9.379852294921875, 0.2059108018875122, -2.6672303676605225], [9.621334075927734, 0.19066433608531952, -2.7319352626800537]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 362, "episode_id": "363", "scene_id": "p5wJjkQkbXX", "instruction": "Leave the bedroom and take a right. Take a right into the bedroom first on the right. Stop nesxt to the door. ", "start_position": [6.5772199630737305, 0.03397093713283539, 3.3997199535369873], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [9.968469619750977, 0.10311373323202133, -2.8969900608062744], "goal_radius": 3.0, "reference_path": "[[6.5772199630737305, 0.03397093713283539, 3.3997199535369873], [6.434700012207031, 0.07038337737321854, 2.030519962310791], [5.666470050811768, 0.21126818656921387, 0.20743800699710846], [7.431449890136719, 0.21126818656921387, -1.7479300498962402], [9.968469619750977, 0.10311373323202133, -2.8969900608062744]]", "geodesic_distance": 7.999098777770996, "gt_locations": "[[6.5772199630737305, 0.03397093713283539, 3.3997199535369873], [6.5772199630737305, 0.011268138885498047, 3.1497199535369873], [6.5772199630737305, 0.04431542381644249, 2.8997199535369873], [6.5772199630737305, 0.09516309201717377, 2.6497199535369873], [6.512515068054199, 0.11140882223844528, 2.408238410949707], [6.447810173034668, 0.1355595588684082, 2.1667568683624268], [6.383105278015137, 0.03516398370265961, 1.925275444984436], [6.3184003829956055, 0.011268138885498047, 1.6837940216064453], [6.253695487976074, 0.011268138885498047, 1.4423125982284546], [6.128695487976074, 0.011268138885498047, 1.2258062362670898], [6.003695487976074, 0.011268138885498047, 1.009299874305725], [5.878695487976074, 0.03151824325323105, 0.7927935123443604], [5.813990592956543, 0.06967823952436447, 0.5513120889663696], [5.938990592956543, 0.10547779500484467, 0.3348057270050049], [6.063990592956543, 0.17592716217041016, 0.11829937994480133], [6.188990592956543, 0.21126818656921387, -0.09820696711540222], [6.313990592956543, 0.21126818656921387, -0.3147132992744446], [6.438990592956543, 0.21126818656921387, -0.5312196612358093], [6.563990592956543, 0.21126818656921387, -0.7477260231971741], [6.740767478942871, 0.21126818656921387, -0.9245027303695679], [6.917544364929199, 0.21126818656921387, -1.101279377937317], [7.094321250915527, 0.21126818656921387, -1.278056025505066], [7.219321250915527, 0.21126818656921387, -1.4945623874664307], [7.435827732086182, 0.21126818656921387, -1.6195623874664307], [7.652334213256836, 0.21126818656921387, -1.7445623874664307], [7.86884069442749, 0.21126818656921387, -1.8695623874664307], [8.085347175598145, 0.21126818656921387, -1.9945623874664307], [8.262124061584473, 0.21126818656921387, -2.1713390350341797], [8.4389009475708, 0.21126818656921387, -2.3481156826019287], [8.655406951904297, 0.20875990390777588, -2.4731156826019287], [8.896888732910156, 0.21126818656921387, -2.53782057762146], [9.138370513916016, 0.21126818656921387, -2.602525472640991], [9.379852294921875, 0.2059108018875122, -2.6672303676605225], [9.621334075927734, 0.19066433608531952, -2.7319352626800537]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 363, "episode_id": "364", "scene_id": "p5wJjkQkbXX", "instruction": "Go out of the bedroom and take a right past the painting to the little hallway. Go into the first room on your right. ", "start_position": [6.5772199630737305, 0.03397093713283539, 3.3997199535369873], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [9.968469619750977, 0.10311373323202133, -2.8969900608062744], "goal_radius": 3.0, "reference_path": "[[6.5772199630737305, 0.03397093713283539, 3.3997199535369873], [6.434700012207031, 0.07038337737321854, 2.030519962310791], [5.666470050811768, 0.21126818656921387, 0.20743800699710846], [7.431449890136719, 0.21126818656921387, -1.7479300498962402], [9.968469619750977, 0.10311373323202133, -2.8969900608062744]]", "geodesic_distance": 7.999098777770996, "gt_locations": "[[6.5772199630737305, 0.03397093713283539, 3.3997199535369873], [6.5772199630737305, 0.011268138885498047, 3.1497199535369873], [6.5772199630737305, 0.04431542381644249, 2.8997199535369873], [6.5772199630737305, 0.09516309201717377, 2.6497199535369873], [6.512515068054199, 0.11140882223844528, 2.408238410949707], [6.447810173034668, 0.1355595588684082, 2.1667568683624268], [6.383105278015137, 0.03516398370265961, 1.925275444984436], [6.3184003829956055, 0.011268138885498047, 1.6837940216064453], [6.253695487976074, 0.011268138885498047, 1.4423125982284546], [6.128695487976074, 0.011268138885498047, 1.2258062362670898], [6.003695487976074, 0.011268138885498047, 1.009299874305725], [5.878695487976074, 0.03151824325323105, 0.7927935123443604], [5.813990592956543, 0.06967823952436447, 0.5513120889663696], [5.938990592956543, 0.10547779500484467, 0.3348057270050049], [6.063990592956543, 0.17592716217041016, 0.11829937994480133], [6.188990592956543, 0.21126818656921387, -0.09820696711540222], [6.313990592956543, 0.21126818656921387, -0.3147132992744446], [6.438990592956543, 0.21126818656921387, -0.5312196612358093], [6.563990592956543, 0.21126818656921387, -0.7477260231971741], [6.740767478942871, 0.21126818656921387, -0.9245027303695679], [6.917544364929199, 0.21126818656921387, -1.101279377937317], [7.094321250915527, 0.21126818656921387, -1.278056025505066], [7.219321250915527, 0.21126818656921387, -1.4945623874664307], [7.435827732086182, 0.21126818656921387, -1.6195623874664307], [7.652334213256836, 0.21126818656921387, -1.7445623874664307], [7.86884069442749, 0.21126818656921387, -1.8695623874664307], [8.085347175598145, 0.21126818656921387, -1.9945623874664307], [8.262124061584473, 0.21126818656921387, -2.1713390350341797], [8.4389009475708, 0.21126818656921387, -2.3481156826019287], [8.655406951904297, 0.20875990390777588, -2.4731156826019287], [8.896888732910156, 0.21126818656921387, -2.53782057762146], [9.138370513916016, 0.21126818656921387, -2.602525472640991], [9.379852294921875, 0.2059108018875122, -2.6672303676605225], [9.621334075927734, 0.19066433608531952, -2.7319352626800537]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 364, "episode_id": "365", "scene_id": "Vvot9Ly1tCj", "instruction": "If you are looking at the round table then turn right and go past the couches and then turn right. Then U turn left and go straight into that large empty room. ", "start_position": [0.18793900310993195, 0.04283595085144043, 5.207429885864258], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [7.428219795227051, 0.04283595085144043, 5.389780044555664], "goal_radius": 3.0, "reference_path": "[[0.18793900310993195, 0.04283595085144043, 5.207429885864258], [3.7756900787353516, 0.04283595085144043, 4.711880207061768], [5.4217400550842285, 0.04283595085144043, 5.888030052185059], [6.230010032653809, 0.04283595085144043, 8.071680068969727], [7.34119987487793, 0.04283595085144043, 6.898399829864502], [7.428219795227051, 0.04283595085144043, 5.389780044555664]]", "geodesic_distance": 10.06282901763916, "gt_locations": "[[0.18793900310993195, 0.04283595085144043, 5.207429885864258], [0.42942047119140625, 0.04283595085144043, 5.142724990844727], [0.6709019541740417, 0.04283595085144043, 5.078020095825195], [0.9123834371566772, 0.04283595085144043, 5.013315200805664], [1.153864860534668, 0.04283595085144043, 4.948610305786133], [1.3953464031219482, 0.04283595085144043, 4.883905410766602], [1.6453464031219482, 0.04283595085144043, 4.883905410766602], [1.8953464031219482, 0.04283595085144043, 4.883905410766602], [2.1453464031219482, 0.04283595085144043, 4.883905410766602], [2.3953464031219482, 0.04283595085144043, 4.883905410766602], [2.6453464031219482, 0.04283595085144043, 4.883905410766602], [2.8953464031219482, 0.04283595085144043, 4.883905410766602], [3.1368279457092285, 0.04283595085144043, 4.81920051574707], [3.378309488296509, 0.04283595085144043, 4.754495620727539], [3.619791030883789, 0.04283595085144043, 4.81920051574707], [3.8362975120544434, 0.04283595085144043, 4.94420051574707], [4.052803993225098, 0.04283595085144043, 5.06920051574707], [4.269310474395752, 0.04283595085144043, 5.19420051574707], [4.510791778564453, 0.04283595085144043, 5.258905410766602], [4.727298259735107, 0.04283595085144043, 5.383905410766602], [4.943804740905762, 0.04283595085144043, 5.508905410766602], [5.160311222076416, 0.04283595085144043, 5.633905410766602], [5.285311222076416, 0.04283595085144043, 5.850411891937256], [5.410311222076416, 0.04283595085144043, 6.06691837310791], [5.535311222076416, 0.04283595085144043, 6.2834248542785645], [5.660311222076416, 0.04283595085144043, 6.499931335449219], [5.725016117095947, 0.04283595085144043, 6.74141263961792], [5.7897210121154785, 0.04283595085144043, 6.982893943786621], [5.85442590713501, 0.04283595085144043, 7.224375247955322], [5.919130802154541, 0.04283595085144043, 7.465856552124023], [6.044130802154541, 0.04283595085144043, 7.682363033294678], [6.294130802154541, 0.04283595085144043, 7.682363033294678], [6.544130802154541, 0.04283595085144043, 7.682363033294678], [6.787969589233398, 0.04283595085144043, 7.627089023590088], [6.964746475219727, 0.04283595085144043, 7.45031213760376], [7.089746475219727, 0.04283595085144043, 7.2338056564331055], [7.154451370239258, 0.04283595085144043, 6.992324352264404], [7.219156265258789, 0.04283595085144043, 6.750843048095703], [7.28386116027832, 0.04283595085144043, 6.509361743927002], [7.348566055297852, 0.04283595085144043, 6.267880439758301], [7.413270950317383, 0.04283595085144043, 6.0263991355896], [7.413270950317383, 0.04283595085144043, 5.7763991355896]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 2, 1, 2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 365, "episode_id": "366", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk behind the long white couch, then turn right down the hallway. Take a quick left, then an immediate left.  Wait by the door in the empty room. ", "start_position": [0.18793900310993195, 0.04283595085144043, 5.207429885864258], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [7.428219795227051, 0.04283595085144043, 5.389780044555664], "goal_radius": 3.0, "reference_path": "[[0.18793900310993195, 0.04283595085144043, 5.207429885864258], [3.7756900787353516, 0.04283595085144043, 4.711880207061768], [5.4217400550842285, 0.04283595085144043, 5.888030052185059], [6.230010032653809, 0.04283595085144043, 8.071680068969727], [7.34119987487793, 0.04283595085144043, 6.898399829864502], [7.428219795227051, 0.04283595085144043, 5.389780044555664]]", "geodesic_distance": 10.06282901763916, "gt_locations": "[[0.18793900310993195, 0.04283595085144043, 5.207429885864258], [0.42942047119140625, 0.04283595085144043, 5.142724990844727], [0.6709019541740417, 0.04283595085144043, 5.078020095825195], [0.9123834371566772, 0.04283595085144043, 5.013315200805664], [1.153864860534668, 0.04283595085144043, 4.948610305786133], [1.3953464031219482, 0.04283595085144043, 4.883905410766602], [1.6453464031219482, 0.04283595085144043, 4.883905410766602], [1.8953464031219482, 0.04283595085144043, 4.883905410766602], [2.1453464031219482, 0.04283595085144043, 4.883905410766602], [2.3953464031219482, 0.04283595085144043, 4.883905410766602], [2.6453464031219482, 0.04283595085144043, 4.883905410766602], [2.8953464031219482, 0.04283595085144043, 4.883905410766602], [3.1368279457092285, 0.04283595085144043, 4.81920051574707], [3.378309488296509, 0.04283595085144043, 4.754495620727539], [3.619791030883789, 0.04283595085144043, 4.81920051574707], [3.8362975120544434, 0.04283595085144043, 4.94420051574707], [4.052803993225098, 0.04283595085144043, 5.06920051574707], [4.269310474395752, 0.04283595085144043, 5.19420051574707], [4.510791778564453, 0.04283595085144043, 5.258905410766602], [4.727298259735107, 0.04283595085144043, 5.383905410766602], [4.943804740905762, 0.04283595085144043, 5.508905410766602], [5.160311222076416, 0.04283595085144043, 5.633905410766602], [5.285311222076416, 0.04283595085144043, 5.850411891937256], [5.410311222076416, 0.04283595085144043, 6.06691837310791], [5.535311222076416, 0.04283595085144043, 6.2834248542785645], [5.660311222076416, 0.04283595085144043, 6.499931335449219], [5.725016117095947, 0.04283595085144043, 6.74141263961792], [5.7897210121154785, 0.04283595085144043, 6.982893943786621], [5.85442590713501, 0.04283595085144043, 7.224375247955322], [5.919130802154541, 0.04283595085144043, 7.465856552124023], [6.044130802154541, 0.04283595085144043, 7.682363033294678], [6.294130802154541, 0.04283595085144043, 7.682363033294678], [6.544130802154541, 0.04283595085144043, 7.682363033294678], [6.787969589233398, 0.04283595085144043, 7.627089023590088], [6.964746475219727, 0.04283595085144043, 7.45031213760376], [7.089746475219727, 0.04283595085144043, 7.2338056564331055], [7.154451370239258, 0.04283595085144043, 6.992324352264404], [7.219156265258789, 0.04283595085144043, 6.750843048095703], [7.28386116027832, 0.04283595085144043, 6.509361743927002], [7.348566055297852, 0.04283595085144043, 6.267880439758301], [7.413270950317383, 0.04283595085144043, 6.0263991355896], [7.413270950317383, 0.04283595085144043, 5.7763991355896]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 2, 1, 2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 366, "episode_id": "367", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk through the living room area passed the couches and into the hallway in the corner of the room. Walk through the open double doors. Turn around and walk through the open door immediately next to the double doors. Walk into the open bedroom with wooden floors and a chandelier. ", "start_position": [0.18793900310993195, 0.04283595085144043, 5.207429885864258], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [7.428219795227051, 0.04283595085144043, 5.389780044555664], "goal_radius": 3.0, "reference_path": "[[0.18793900310993195, 0.04283595085144043, 5.207429885864258], [3.7756900787353516, 0.04283595085144043, 4.711880207061768], [5.4217400550842285, 0.04283595085144043, 5.888030052185059], [6.230010032653809, 0.04283595085144043, 8.071680068969727], [7.34119987487793, 0.04283595085144043, 6.898399829864502], [7.428219795227051, 0.04283595085144043, 5.389780044555664]]", "geodesic_distance": 10.06282901763916, "gt_locations": "[[0.18793900310993195, 0.04283595085144043, 5.207429885864258], [0.42942047119140625, 0.04283595085144043, 5.142724990844727], [0.6709019541740417, 0.04283595085144043, 5.078020095825195], [0.9123834371566772, 0.04283595085144043, 5.013315200805664], [1.153864860534668, 0.04283595085144043, 4.948610305786133], [1.3953464031219482, 0.04283595085144043, 4.883905410766602], [1.6453464031219482, 0.04283595085144043, 4.883905410766602], [1.8953464031219482, 0.04283595085144043, 4.883905410766602], [2.1453464031219482, 0.04283595085144043, 4.883905410766602], [2.3953464031219482, 0.04283595085144043, 4.883905410766602], [2.6453464031219482, 0.04283595085144043, 4.883905410766602], [2.8953464031219482, 0.04283595085144043, 4.883905410766602], [3.1368279457092285, 0.04283595085144043, 4.81920051574707], [3.378309488296509, 0.04283595085144043, 4.754495620727539], [3.619791030883789, 0.04283595085144043, 4.81920051574707], [3.8362975120544434, 0.04283595085144043, 4.94420051574707], [4.052803993225098, 0.04283595085144043, 5.06920051574707], [4.269310474395752, 0.04283595085144043, 5.19420051574707], [4.510791778564453, 0.04283595085144043, 5.258905410766602], [4.727298259735107, 0.04283595085144043, 5.383905410766602], [4.943804740905762, 0.04283595085144043, 5.508905410766602], [5.160311222076416, 0.04283595085144043, 5.633905410766602], [5.285311222076416, 0.04283595085144043, 5.850411891937256], [5.410311222076416, 0.04283595085144043, 6.06691837310791], [5.535311222076416, 0.04283595085144043, 6.2834248542785645], [5.660311222076416, 0.04283595085144043, 6.499931335449219], [5.725016117095947, 0.04283595085144043, 6.74141263961792], [5.7897210121154785, 0.04283595085144043, 6.982893943786621], [5.85442590713501, 0.04283595085144043, 7.224375247955322], [5.919130802154541, 0.04283595085144043, 7.465856552124023], [6.044130802154541, 0.04283595085144043, 7.682363033294678], [6.294130802154541, 0.04283595085144043, 7.682363033294678], [6.544130802154541, 0.04283595085144043, 7.682363033294678], [6.787969589233398, 0.04283595085144043, 7.627089023590088], [6.964746475219727, 0.04283595085144043, 7.45031213760376], [7.089746475219727, 0.04283595085144043, 7.2338056564331055], [7.154451370239258, 0.04283595085144043, 6.992324352264404], [7.219156265258789, 0.04283595085144043, 6.750843048095703], [7.28386116027832, 0.04283595085144043, 6.509361743927002], [7.348566055297852, 0.04283595085144043, 6.267880439758301], [7.413270950317383, 0.04283595085144043, 6.0263991355896], [7.413270950317383, 0.04283595085144043, 5.7763991355896]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 2, 1, 2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 367, "episode_id": "368", "scene_id": "29hnd4uzFmX", "instruction": "Walk out of the playroom and wait by the banister ahead. ", "start_position": [-2.28016996383667, 2.7910420894622803, -6.942160129547119], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.9470698833465576, 2.7910420894622803, -2.8208999633789062], "goal_radius": 3.0, "reference_path": "[[-2.28016996383667, 2.7910420894622803, -6.942160129547119], [-0.690392017364502, 2.7910420894622803, -4.5602498054504395], [-1.4234800338745117, 2.7910420894622803, -4.197140216827393], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-3.9470698833465576, 2.7910420894622803, -2.8208999633789062]]", "geodesic_distance": 5.717159748077393, "gt_locations": "[[-2.28016996383667, 2.7910420894622803, -6.942160129547119], [-2.15516996383667, 2.7910420894622803, -6.725653648376465], [-2.03016996383667, 2.7910420894622803, -6.5091471672058105], [-1.90516996383667, 2.7910420894622803, -6.292640686035156], [-1.78016996383667, 2.7910420894622803, -6.076134204864502], [-1.65516996383667, 2.7910420894622803, -5.859627723693848], [-1.53016996383667, 2.7910420894622803, -5.643121242523193], [-1.40516996383667, 2.7910420894622803, -5.426614761352539], [-1.28016996383667, 2.7910420894622803, -5.210108280181885], [-1.103393316268921, 2.7910420894622803, -5.033331394195557], [-0.9266166090965271, 2.7910420894622803, -4.8565545082092285], [-1.0516166687011719, 2.7910420894622803, -4.640048027038574], [-1.2283934354782104, 2.7910420894622803, -4.463271141052246], [-1.405170202255249, 2.7910420894622803, -4.286494255065918], [-1.5819469690322876, 2.7910420894622803, -4.10971736907959], [-1.7984533309936523, 2.7910420894622803, -3.98471736907959], [-2.0149595737457275, 2.7910420894622803, -3.85971736907959], [-2.2314658164978027, 2.7910420894622803, -3.73471736907959], [-2.447972059249878, 2.7910420894622803, -3.60971736907959], [-2.624748706817627, 2.7910420894622803, -3.432940721511841], [-2.8412551879882812, 2.7910420894622803, -3.307940721511841], [-3.0577616691589355, 2.7910420894622803, -3.182940721511841], [-3.27426815032959, 2.7910420894622803, -3.057940721511841], [-3.51574969291687, 2.7910420894622803, -2.9932360649108887]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 368, "episode_id": "369", "scene_id": "29hnd4uzFmX", "instruction": "Leave the playroom and walk straight ahead. Walk to the balcony across from the balcony. Stop in front of the balcony. ", "start_position": [-2.28016996383667, 2.7910420894622803, -6.942160129547119], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.9470698833465576, 2.7910420894622803, -2.8208999633789062], "goal_radius": 3.0, "reference_path": "[[-2.28016996383667, 2.7910420894622803, -6.942160129547119], [-0.690392017364502, 2.7910420894622803, -4.5602498054504395], [-1.4234800338745117, 2.7910420894622803, -4.197140216827393], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-3.9470698833465576, 2.7910420894622803, -2.8208999633789062]]", "geodesic_distance": 5.717159748077393, "gt_locations": "[[-2.28016996383667, 2.7910420894622803, -6.942160129547119], [-2.15516996383667, 2.7910420894622803, -6.725653648376465], [-2.03016996383667, 2.7910420894622803, -6.5091471672058105], [-1.90516996383667, 2.7910420894622803, -6.292640686035156], [-1.78016996383667, 2.7910420894622803, -6.076134204864502], [-1.65516996383667, 2.7910420894622803, -5.859627723693848], [-1.53016996383667, 2.7910420894622803, -5.643121242523193], [-1.40516996383667, 2.7910420894622803, -5.426614761352539], [-1.28016996383667, 2.7910420894622803, -5.210108280181885], [-1.103393316268921, 2.7910420894622803, -5.033331394195557], [-0.9266166090965271, 2.7910420894622803, -4.8565545082092285], [-1.0516166687011719, 2.7910420894622803, -4.640048027038574], [-1.2283934354782104, 2.7910420894622803, -4.463271141052246], [-1.405170202255249, 2.7910420894622803, -4.286494255065918], [-1.5819469690322876, 2.7910420894622803, -4.10971736907959], [-1.7984533309936523, 2.7910420894622803, -3.98471736907959], [-2.0149595737457275, 2.7910420894622803, -3.85971736907959], [-2.2314658164978027, 2.7910420894622803, -3.73471736907959], [-2.447972059249878, 2.7910420894622803, -3.60971736907959], [-2.624748706817627, 2.7910420894622803, -3.432940721511841], [-2.8412551879882812, 2.7910420894622803, -3.307940721511841], [-3.0577616691589355, 2.7910420894622803, -3.182940721511841], [-3.27426815032959, 2.7910420894622803, -3.057940721511841], [-3.51574969291687, 2.7910420894622803, -2.9932360649108887]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 369, "episode_id": "370", "scene_id": "29hnd4uzFmX", "instruction": "Exit the room and walk straight, stopping once you reach the guardrail, close to the top of the stairs. ", "start_position": [-2.28016996383667, 2.7910420894622803, -6.942160129547119], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.9470698833465576, 2.7910420894622803, -2.8208999633789062], "goal_radius": 3.0, "reference_path": "[[-2.28016996383667, 2.7910420894622803, -6.942160129547119], [-0.690392017364502, 2.7910420894622803, -4.5602498054504395], [-1.4234800338745117, 2.7910420894622803, -4.197140216827393], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-3.9470698833465576, 2.7910420894622803, -2.8208999633789062]]", "geodesic_distance": 5.717159748077393, "gt_locations": "[[-2.28016996383667, 2.7910420894622803, -6.942160129547119], [-2.15516996383667, 2.7910420894622803, -6.725653648376465], [-2.03016996383667, 2.7910420894622803, -6.5091471672058105], [-1.90516996383667, 2.7910420894622803, -6.292640686035156], [-1.78016996383667, 2.7910420894622803, -6.076134204864502], [-1.65516996383667, 2.7910420894622803, -5.859627723693848], [-1.53016996383667, 2.7910420894622803, -5.643121242523193], [-1.40516996383667, 2.7910420894622803, -5.426614761352539], [-1.28016996383667, 2.7910420894622803, -5.210108280181885], [-1.103393316268921, 2.7910420894622803, -5.033331394195557], [-0.9266166090965271, 2.7910420894622803, -4.8565545082092285], [-1.0516166687011719, 2.7910420894622803, -4.640048027038574], [-1.2283934354782104, 2.7910420894622803, -4.463271141052246], [-1.405170202255249, 2.7910420894622803, -4.286494255065918], [-1.5819469690322876, 2.7910420894622803, -4.10971736907959], [-1.7984533309936523, 2.7910420894622803, -3.98471736907959], [-2.0149595737457275, 2.7910420894622803, -3.85971736907959], [-2.2314658164978027, 2.7910420894622803, -3.73471736907959], [-2.447972059249878, 2.7910420894622803, -3.60971736907959], [-2.624748706817627, 2.7910420894622803, -3.432940721511841], [-2.8412551879882812, 2.7910420894622803, -3.307940721511841], [-3.0577616691589355, 2.7910420894622803, -3.182940721511841], [-3.27426815032959, 2.7910420894622803, -3.057940721511841], [-3.51574969291687, 2.7910420894622803, -2.9932360649108887]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 0]"}
{"id": 370, "episode_id": "371", "scene_id": "82sE5b5pLXE", "instruction": "Exit the door on the left then turn slightly left to go straight down the hallway. Go up the steps then turn left and go out the door on the left and stop. ", "start_position": [-6.771510124206543, -0.4622059762477875, -5.725510120391846], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-18.003799438476562, 0.33779406547546387, -12.250499725341797], "goal_radius": 3.0, "reference_path": "[[-6.771510124206543, -0.4622059762477875, -5.725510120391846], [-8.413080215454102, -0.4622059762477875, -6.648399829864502], [-9.953559875488281, -0.4622059762477875, -6.558050155639648], [-11.308099746704102, -0.4274347424507141, -8.292679786682129], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-17.283899307250977, 0.33779406547546387, -11.840900421142578], [-18.003799438476562, 0.33779406547546387, -12.250499725341797]]", "geodesic_distance": 13.210885047912598, "gt_locations": "[[-6.771510124206543, -0.4622059762477875, -5.725510120391846], [-6.948287010192871, -0.4622059762477875, -5.902287006378174], [-7.125063896179199, -0.4622059762477875, -6.079063892364502], [-7.301840782165527, -0.4622059762477875, -6.25584077835083], [-7.534475803375244, -0.4622059762477875, -6.35150671005249], [-7.750982284545898, -0.4622059762477875, -6.47650671005249], [-7.9924635887146, -0.4622059762477875, -6.5412116050720215], [-8.2339448928833, -0.4622059762477875, -6.605916500091553], [-8.47542667388916, -0.4622059762477875, -6.670621395111084], [-8.71690845489502, -0.4622059762477875, -6.735326290130615], [-8.96690845489502, -0.4622059762477875, -6.735326290130615], [-9.21690845489502, -0.4622059762477875, -6.735326290130615], [-9.458390235900879, -0.4622059762477875, -6.670621395111084], [-9.699872016906738, -0.4622059762477875, -6.605916500091553], [-9.876648902893066, -0.4622059762477875, -6.782693386077881], [-10.053425788879395, -0.4622059762477875, -6.959470272064209], [-10.230202674865723, -0.4622059762477875, -7.136247158050537], [-10.40697956085205, -0.4622059762477875, -7.313024044036865], [-10.583756446838379, -0.4622059762477875, -7.489800930023193], [-10.760533332824707, -0.4622059762477875, -7.6665778160095215], [-10.937310218811035, -0.4622059762477875, -7.84335470199585], [-11.114087104797363, -0.4622059762477875, -8.02013111114502], [-11.33059310913086, -0.4236683249473572, -8.14513111114502], [-11.547099113464355, -0.34674927592277527, -8.27013111114502], [-11.723875999450684, -0.30912044644355774, -8.446907997131348], [-11.900652885437012, -0.2714916169643402, -8.623684883117676], [-12.07742977142334, -0.17002257704734802, -8.800461769104004], [-12.254206657409668, -0.1043005883693695, -8.977238655090332], [-12.430983543395996, -0.0500623881816864, -9.15401554107666], [-12.607760429382324, 0.08224737644195557, -9.330792427062988], [-12.784537315368652, 0.2272949516773224, -9.507569313049316], [-12.96131420135498, 0.33779406547546387, -9.684346199035645], [-13.177820205688477, 0.33779406547546387, -9.809346199035645], [-13.394326210021973, 0.33779406547546387, -9.934346199035645], [-13.610832214355469, 0.33779406547546387, -10.059346199035645], [-13.827338218688965, 0.33779406547546387, -10.184346199035645], [-14.043844223022461, 0.33779406547546387, -10.309346199035645], [-14.260350227355957, 0.33779406547546387, -10.434346199035645], [-14.476856231689453, 0.33779406547546387, -10.559346199035645], [-14.69336223602295, 0.33779406547546387, -10.684346199035645], [-14.909868240356445, 0.33779406547546387, -10.809346199035645], [-15.126374244689941, 0.33779406547546387, -10.934346199035645], [-15.342880249023438, 0.33779406547546387, -11.059346199035645], [-15.559386253356934, 0.33779406547546387, -11.184346199035645], [-15.77589225769043, 0.33779406547546387, -11.309346199035645], [-16.01737403869629, 0.33779406547546387, -11.374051094055176], [-16.25885581970215, 0.33779406547546387, -11.438755989074707], [-16.500337600708008, 0.33779406547546387, -11.503460884094238], [-16.741819381713867, 0.33779406547546387, -11.56816577911377], [-16.95832633972168, 0.33779406547546387, -11.69316577911377], [-17.174833297729492, 0.33779406547546387, -11.81816577911377], [-17.391340255737305, 0.33779406547546387, -11.94316577911377], [-17.607847213745117, 0.33779406547546387, -12.06816577911377]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 371, "episode_id": "372", "scene_id": "82sE5b5pLXE", "instruction": "Turn left and exit the room. Once out, turn left and walk forward and then turn right. Go up the small stairs. Once at the top, turn left and walk forward out the doors leading outside. Stop once you are outside the door. ", "start_position": [-6.771510124206543, -0.4622059762477875, -5.725510120391846], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-18.003799438476562, 0.33779406547546387, -12.250499725341797], "goal_radius": 3.0, "reference_path": "[[-6.771510124206543, -0.4622059762477875, -5.725510120391846], [-8.413080215454102, -0.4622059762477875, -6.648399829864502], [-9.953559875488281, -0.4622059762477875, -6.558050155639648], [-11.308099746704102, -0.4274347424507141, -8.292679786682129], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-17.283899307250977, 0.33779406547546387, -11.840900421142578], [-18.003799438476562, 0.33779406547546387, -12.250499725341797]]", "geodesic_distance": 13.210885047912598, "gt_locations": "[[-6.771510124206543, -0.4622059762477875, -5.725510120391846], [-6.948287010192871, -0.4622059762477875, -5.902287006378174], [-7.125063896179199, -0.4622059762477875, -6.079063892364502], [-7.301840782165527, -0.4622059762477875, -6.25584077835083], [-7.534475803375244, -0.4622059762477875, -6.35150671005249], [-7.750982284545898, -0.4622059762477875, -6.47650671005249], [-7.9924635887146, -0.4622059762477875, -6.5412116050720215], [-8.2339448928833, -0.4622059762477875, -6.605916500091553], [-8.47542667388916, -0.4622059762477875, -6.670621395111084], [-8.71690845489502, -0.4622059762477875, -6.735326290130615], [-8.96690845489502, -0.4622059762477875, -6.735326290130615], [-9.21690845489502, -0.4622059762477875, -6.735326290130615], [-9.458390235900879, -0.4622059762477875, -6.670621395111084], [-9.699872016906738, -0.4622059762477875, -6.605916500091553], [-9.876648902893066, -0.4622059762477875, -6.782693386077881], [-10.053425788879395, -0.4622059762477875, -6.959470272064209], [-10.230202674865723, -0.4622059762477875, -7.136247158050537], [-10.40697956085205, -0.4622059762477875, -7.313024044036865], [-10.583756446838379, -0.4622059762477875, -7.489800930023193], [-10.760533332824707, -0.4622059762477875, -7.6665778160095215], [-10.937310218811035, -0.4622059762477875, -7.84335470199585], [-11.114087104797363, -0.4622059762477875, -8.02013111114502], [-11.33059310913086, -0.4236683249473572, -8.14513111114502], [-11.547099113464355, -0.34674927592277527, -8.27013111114502], [-11.723875999450684, -0.30912044644355774, -8.446907997131348], [-11.900652885437012, -0.2714916169643402, -8.623684883117676], [-12.07742977142334, -0.17002257704734802, -8.800461769104004], [-12.254206657409668, -0.1043005883693695, -8.977238655090332], [-12.430983543395996, -0.0500623881816864, -9.15401554107666], [-12.607760429382324, 0.08224737644195557, -9.330792427062988], [-12.784537315368652, 0.2272949516773224, -9.507569313049316], [-12.96131420135498, 0.33779406547546387, -9.684346199035645], [-13.177820205688477, 0.33779406547546387, -9.809346199035645], [-13.394326210021973, 0.33779406547546387, -9.934346199035645], [-13.610832214355469, 0.33779406547546387, -10.059346199035645], [-13.827338218688965, 0.33779406547546387, -10.184346199035645], [-14.043844223022461, 0.33779406547546387, -10.309346199035645], [-14.260350227355957, 0.33779406547546387, -10.434346199035645], [-14.476856231689453, 0.33779406547546387, -10.559346199035645], [-14.69336223602295, 0.33779406547546387, -10.684346199035645], [-14.909868240356445, 0.33779406547546387, -10.809346199035645], [-15.126374244689941, 0.33779406547546387, -10.934346199035645], [-15.342880249023438, 0.33779406547546387, -11.059346199035645], [-15.559386253356934, 0.33779406547546387, -11.184346199035645], [-15.77589225769043, 0.33779406547546387, -11.309346199035645], [-16.01737403869629, 0.33779406547546387, -11.374051094055176], [-16.25885581970215, 0.33779406547546387, -11.438755989074707], [-16.500337600708008, 0.33779406547546387, -11.503460884094238], [-16.741819381713867, 0.33779406547546387, -11.56816577911377], [-16.95832633972168, 0.33779406547546387, -11.69316577911377], [-17.174833297729492, 0.33779406547546387, -11.81816577911377], [-17.391340255737305, 0.33779406547546387, -11.94316577911377], [-17.607847213745117, 0.33779406547546387, -12.06816577911377]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 372, "episode_id": "373", "scene_id": "82sE5b5pLXE", "instruction": "With the bed behind you, exit the room through the door ahead of you, taking a dogleg to the left and heading towards the short flight of five steps. After climbing the steps, veer slightly left and pass by the opening on your left, heading towards a door leading outside. Stop once you pass through that door opening. ", "start_position": [-6.771510124206543, -0.4622059762477875, -5.725510120391846], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-18.003799438476562, 0.33779406547546387, -12.250499725341797], "goal_radius": 3.0, "reference_path": "[[-6.771510124206543, -0.4622059762477875, -5.725510120391846], [-8.413080215454102, -0.4622059762477875, -6.648399829864502], [-9.953559875488281, -0.4622059762477875, -6.558050155639648], [-11.308099746704102, -0.4274347424507141, -8.292679786682129], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-17.283899307250977, 0.33779406547546387, -11.840900421142578], [-18.003799438476562, 0.33779406547546387, -12.250499725341797]]", "geodesic_distance": 13.210885047912598, "gt_locations": "[[-6.771510124206543, -0.4622059762477875, -5.725510120391846], [-6.948287010192871, -0.4622059762477875, -5.902287006378174], [-7.125063896179199, -0.4622059762477875, -6.079063892364502], [-7.301840782165527, -0.4622059762477875, -6.25584077835083], [-7.534475803375244, -0.4622059762477875, -6.35150671005249], [-7.750982284545898, -0.4622059762477875, -6.47650671005249], [-7.9924635887146, -0.4622059762477875, -6.5412116050720215], [-8.2339448928833, -0.4622059762477875, -6.605916500091553], [-8.47542667388916, -0.4622059762477875, -6.670621395111084], [-8.71690845489502, -0.4622059762477875, -6.735326290130615], [-8.96690845489502, -0.4622059762477875, -6.735326290130615], [-9.21690845489502, -0.4622059762477875, -6.735326290130615], [-9.458390235900879, -0.4622059762477875, -6.670621395111084], [-9.699872016906738, -0.4622059762477875, -6.605916500091553], [-9.876648902893066, -0.4622059762477875, -6.782693386077881], [-10.053425788879395, -0.4622059762477875, -6.959470272064209], [-10.230202674865723, -0.4622059762477875, -7.136247158050537], [-10.40697956085205, -0.4622059762477875, -7.313024044036865], [-10.583756446838379, -0.4622059762477875, -7.489800930023193], [-10.760533332824707, -0.4622059762477875, -7.6665778160095215], [-10.937310218811035, -0.4622059762477875, -7.84335470199585], [-11.114087104797363, -0.4622059762477875, -8.02013111114502], [-11.33059310913086, -0.4236683249473572, -8.14513111114502], [-11.547099113464355, -0.34674927592277527, -8.27013111114502], [-11.723875999450684, -0.30912044644355774, -8.446907997131348], [-11.900652885437012, -0.2714916169643402, -8.623684883117676], [-12.07742977142334, -0.17002257704734802, -8.800461769104004], [-12.254206657409668, -0.1043005883693695, -8.977238655090332], [-12.430983543395996, -0.0500623881816864, -9.15401554107666], [-12.607760429382324, 0.08224737644195557, -9.330792427062988], [-12.784537315368652, 0.2272949516773224, -9.507569313049316], [-12.96131420135498, 0.33779406547546387, -9.684346199035645], [-13.177820205688477, 0.33779406547546387, -9.809346199035645], [-13.394326210021973, 0.33779406547546387, -9.934346199035645], [-13.610832214355469, 0.33779406547546387, -10.059346199035645], [-13.827338218688965, 0.33779406547546387, -10.184346199035645], [-14.043844223022461, 0.33779406547546387, -10.309346199035645], [-14.260350227355957, 0.33779406547546387, -10.434346199035645], [-14.476856231689453, 0.33779406547546387, -10.559346199035645], [-14.69336223602295, 0.33779406547546387, -10.684346199035645], [-14.909868240356445, 0.33779406547546387, -10.809346199035645], [-15.126374244689941, 0.33779406547546387, -10.934346199035645], [-15.342880249023438, 0.33779406547546387, -11.059346199035645], [-15.559386253356934, 0.33779406547546387, -11.184346199035645], [-15.77589225769043, 0.33779406547546387, -11.309346199035645], [-16.01737403869629, 0.33779406547546387, -11.374051094055176], [-16.25885581970215, 0.33779406547546387, -11.438755989074707], [-16.500337600708008, 0.33779406547546387, -11.503460884094238], [-16.741819381713867, 0.33779406547546387, -11.56816577911377], [-16.95832633972168, 0.33779406547546387, -11.69316577911377], [-17.174833297729492, 0.33779406547546387, -11.81816577911377], [-17.391340255737305, 0.33779406547546387, -11.94316577911377], [-17.607847213745117, 0.33779406547546387, -12.06816577911377]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 373, "episode_id": "374", "scene_id": "29hnd4uzFmX", "instruction": "Exit the closet into the room then go out of the room using the door on the right . Go into the room straight acrros and wait by the toilet. ", "start_position": [1.1164599657058716, 2.7910420894622803, -2.1650900840759277], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.5177500247955322, 2.7910420894622803, -5.652550220489502], "goal_radius": 3.0, "reference_path": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9332150220870972, 2.7910420894622803, -1.7601100206375122], [-1.6939200162887573, 2.7910420894622803, -2.4271299839019775], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-3.1923000812530518, 2.7910420894622803, -4.788489818572998], [-3.5177500247955322, 2.7910420894622803, -5.652550220489502]]", "geodesic_distance": 6.555204391479492, "gt_locations": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9396832585334778, 2.7910420894622803, -1.9883134365081787], [0.6982017755508423, 2.7910420894622803, -1.8870930671691895], [0.43927520513534546, 2.7910420894622803, -1.9052776098251343], [0.19779373705387115, 2.7910420894622803, -1.969982385635376], [-0.04368773102760315, 2.7910420894622803, -2.034687042236328], [-0.29368776082992554, 2.7910420894622803, -2.034687042236328], [-0.5425962209701538, 2.7910420894622803, -2.069683790206909], [-0.7925962209701538, 2.7910420894622803, -2.069683790206909], [-1.034077763557434, 2.7910420894622803, -2.1343884468078613], [-1.2755593061447144, 2.7910420894622803, -2.1990931034088135], [-1.492065668106079, 2.7910420894622803, -2.3240931034088135], [-1.7085720300674438, 2.7910420894622803, -2.4490931034088135], [-1.9250783920288086, 2.7910420894622803, -2.5740931034088135], [-2.141584873199463, 2.7910420894622803, -2.6990931034088135], [-2.358091354370117, 2.7910420894622803, -2.8240931034088135], [-2.5745978355407715, 2.7910420894622803, -2.9490931034088135], [-2.6393027305603027, 2.7910420894622803, -3.1905746459960938], [-2.704007625579834, 2.7910420894622803, -3.432056188583374], [-2.7687125205993652, 2.7910420894622803, -3.6735377311706543], [-2.8334174156188965, 2.7910420894622803, -3.9150192737579346], [-2.8981223106384277, 2.7910420894622803, -4.156500816345215], [-3.0231223106384277, 2.7910420894622803, -4.373007297515869], [-3.1481223106384277, 2.7910420894622803, -4.589513778686523], [-3.212827205657959, 2.7910420894622803, -4.830995082855225], [-3.2775321006774902, 2.7910420894622803, -5.072476387023926], [-3.3422369956970215, 2.7910420894622803, -5.313957691192627]]", "gt_actions": "[3, 3, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 374, "episode_id": "375", "scene_id": "29hnd4uzFmX", "instruction": "Turn right and exit the room. Once out go to the door to the right of the drum set. Stop once inside the room. ", "start_position": [1.1164599657058716, 2.7910420894622803, -2.1650900840759277], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.5177500247955322, 2.7910420894622803, -5.652550220489502], "goal_radius": 3.0, "reference_path": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9332150220870972, 2.7910420894622803, -1.7601100206375122], [-1.6939200162887573, 2.7910420894622803, -2.4271299839019775], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-3.1923000812530518, 2.7910420894622803, -4.788489818572998], [-3.5177500247955322, 2.7910420894622803, -5.652550220489502]]", "geodesic_distance": 6.555204391479492, "gt_locations": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9396832585334778, 2.7910420894622803, -1.9883134365081787], [0.6982017755508423, 2.7910420894622803, -1.8870930671691895], [0.43927520513534546, 2.7910420894622803, -1.9052776098251343], [0.19779373705387115, 2.7910420894622803, -1.969982385635376], [-0.04368773102760315, 2.7910420894622803, -2.034687042236328], [-0.29368776082992554, 2.7910420894622803, -2.034687042236328], [-0.5425962209701538, 2.7910420894622803, -2.069683790206909], [-0.7925962209701538, 2.7910420894622803, -2.069683790206909], [-1.034077763557434, 2.7910420894622803, -2.1343884468078613], [-1.2755593061447144, 2.7910420894622803, -2.1990931034088135], [-1.492065668106079, 2.7910420894622803, -2.3240931034088135], [-1.7085720300674438, 2.7910420894622803, -2.4490931034088135], [-1.9250783920288086, 2.7910420894622803, -2.5740931034088135], [-2.141584873199463, 2.7910420894622803, -2.6990931034088135], [-2.358091354370117, 2.7910420894622803, -2.8240931034088135], [-2.5745978355407715, 2.7910420894622803, -2.9490931034088135], [-2.6393027305603027, 2.7910420894622803, -3.1905746459960938], [-2.704007625579834, 2.7910420894622803, -3.432056188583374], [-2.7687125205993652, 2.7910420894622803, -3.6735377311706543], [-2.8334174156188965, 2.7910420894622803, -3.9150192737579346], [-2.8981223106384277, 2.7910420894622803, -4.156500816345215], [-3.0231223106384277, 2.7910420894622803, -4.373007297515869], [-3.1481223106384277, 2.7910420894622803, -4.589513778686523], [-3.212827205657959, 2.7910420894622803, -4.830995082855225], [-3.2775321006774902, 2.7910420894622803, -5.072476387023926], [-3.3422369956970215, 2.7910420894622803, -5.313957691192627]]", "gt_actions": "[3, 3, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 375, "episode_id": "376", "scene_id": "29hnd4uzFmX", "instruction": "Leave the bedroom and last door on the left. Stop once you enter the room, before you pass the door. ", "start_position": [1.1164599657058716, 2.7910420894622803, -2.1650900840759277], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-3.5177500247955322, 2.7910420894622803, -5.652550220489502], "goal_radius": 3.0, "reference_path": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9332150220870972, 2.7910420894622803, -1.7601100206375122], [-1.6939200162887573, 2.7910420894622803, -2.4271299839019775], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-3.1923000812530518, 2.7910420894622803, -4.788489818572998], [-3.5177500247955322, 2.7910420894622803, -5.652550220489502]]", "geodesic_distance": 6.555204391479492, "gt_locations": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9396832585334778, 2.7910420894622803, -1.9883134365081787], [0.6982017755508423, 2.7910420894622803, -1.8870930671691895], [0.43927520513534546, 2.7910420894622803, -1.9052776098251343], [0.19779373705387115, 2.7910420894622803, -1.969982385635376], [-0.04368773102760315, 2.7910420894622803, -2.034687042236328], [-0.29368776082992554, 2.7910420894622803, -2.034687042236328], [-0.5425962209701538, 2.7910420894622803, -2.069683790206909], [-0.7925962209701538, 2.7910420894622803, -2.069683790206909], [-1.034077763557434, 2.7910420894622803, -2.1343884468078613], [-1.2755593061447144, 2.7910420894622803, -2.1990931034088135], [-1.492065668106079, 2.7910420894622803, -2.3240931034088135], [-1.7085720300674438, 2.7910420894622803, -2.4490931034088135], [-1.9250783920288086, 2.7910420894622803, -2.5740931034088135], [-2.141584873199463, 2.7910420894622803, -2.6990931034088135], [-2.358091354370117, 2.7910420894622803, -2.8240931034088135], [-2.5745978355407715, 2.7910420894622803, -2.9490931034088135], [-2.6393027305603027, 2.7910420894622803, -3.1905746459960938], [-2.704007625579834, 2.7910420894622803, -3.432056188583374], [-2.7687125205993652, 2.7910420894622803, -3.6735377311706543], [-2.8334174156188965, 2.7910420894622803, -3.9150192737579346], [-2.8981223106384277, 2.7910420894622803, -4.156500816345215], [-3.0231223106384277, 2.7910420894622803, -4.373007297515869], [-3.1481223106384277, 2.7910420894622803, -4.589513778686523], [-3.212827205657959, 2.7910420894622803, -4.830995082855225], [-3.2775321006774902, 2.7910420894622803, -5.072476387023926], [-3.3422369956970215, 2.7910420894622803, -5.313957691192627]]", "gt_actions": "[3, 3, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 376, "episode_id": "377", "scene_id": "1LXtFkjw3qL", "instruction": "Exit the bedroom and go left down the hallway towards the three steps leading upwards. Climb those three steps and stop just prior to the painting on the wall towards your right. ", "start_position": [-5.353730201721191, -2.915588855743408, 9.804840087890625], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [0.08128730207681656, -2.31558895111084, 2.300879955291748], "goal_radius": 3.0, "reference_path": "[[-5.353730201721191, -2.915588855743408, 9.804840087890625], [-4.50747013092041, -2.915588855743408, 9.430009841918945], [-2.4363598823547363, -2.915588855743408, 8.83545970916748], [-0.4800280034542084, -2.915588855743408, 7.4665398597717285], [-0.7604010105133057, -2.915588855743408, 5.620200157165527], [-0.5281929969787598, -2.7784829139709473, 3.817840099334717], [0.08128730207681656, -2.31558895111084, 2.300879955291748]]", "geodesic_distance": 10.581279754638672, "gt_locations": "[[-5.353730201721191, -2.915588855743408, 9.804840087890625], [-5.137223720550537, -2.915588855743408, 9.679840087890625], [-4.920717239379883, -2.915588855743408, 9.554840087890625], [-4.679235935211182, -2.915588855743408, 9.490135192871094], [-4.4377546310424805, -2.915588855743408, 9.425430297851562], [-4.196273326873779, -2.915588855743408, 9.360725402832031], [-3.954791784286499, -2.915588855743408, 9.2960205078125], [-3.7133102416992188, -2.915588855743408, 9.231315612792969], [-3.4718286991119385, -2.915588855743408, 9.166610717773438], [-3.230347156524658, -2.915588855743408, 9.101905822753906], [-2.988865613937378, -2.915588855743408, 9.037200927734375], [-2.7473840713500977, -2.915588855743408, 8.972496032714844], [-2.5308775901794434, -2.915588855743408, 8.847496032714844], [-2.289396047592163, -2.915588855743408, 8.782791137695312], [-2.072889804840088, -2.915588855743408, 8.657791137695312], [-1.8314083814620972, -2.915588855743408, 8.593086242675781], [-1.6149020195007324, -2.915588855743408, 8.468086242675781], [-1.4381253719329834, -2.915588855743408, 8.291309356689453], [-1.2216190099716187, -2.915588855743408, 8.166309356689453], [-1.0448423624038696, -2.915588855743408, 7.989532470703125], [-0.8680657148361206, -2.915588855743408, 7.812755584716797], [-0.6912890672683716, -2.915588855743408, 7.635978698730469], [-0.6912891268730164, -2.915588855743408, 7.385978698730469], [-0.6912891864776611, -2.915588855743408, 7.135978698730469], [-0.6912892460823059, -2.915588855743408, 6.885978698730469], [-0.6912893056869507, -2.915588855743408, 6.635978698730469], [-0.6912893652915955, -2.915588855743408, 6.385978698730469], [-0.6912894248962402, -2.915588855743408, 6.135978698730469], [-0.691289484500885, -2.915588855743408, 5.885978698730469], [-0.6912895441055298, -2.915588855743408, 5.635978698730469], [-0.6912896037101746, -2.915588855743408, 5.385978698730469], [-0.6912896633148193, -2.915588855743408, 5.135978698730469], [-0.6912897229194641, -2.915588855743408, 4.885978698730469], [-0.6912897825241089, -2.915588855743408, 4.635978698730469], [-0.626585066318512, -2.8896470069885254, 4.394497394561768], [-0.561880350112915, -2.8440027236938477, 4.153016090393066], [-0.4971756637096405, -2.79835844039917, 3.911534547805786], [-0.43247097730636597, -2.752714157104492, 3.670053005218506], [-0.36776629090309143, -2.664752721786499, 3.4285714626312256], [-0.3030616044998169, -2.454847812652588, 3.1870899200439453], [-0.23835691809654236, -2.391216993331909, 2.945608377456665], [-0.11335697025060654, -2.31558895111084, 2.7291018962860107]]", "gt_actions": "[1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 377, "episode_id": "378", "scene_id": "1LXtFkjw3qL", "instruction": "Exit the bedroom, turn left, go up the stairs, and stop near the radiator. ", "start_position": [-5.353730201721191, -2.915588855743408, 9.804840087890625], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [0.08128730207681656, -2.31558895111084, 2.300879955291748], "goal_radius": 3.0, "reference_path": "[[-5.353730201721191, -2.915588855743408, 9.804840087890625], [-4.50747013092041, -2.915588855743408, 9.430009841918945], [-2.4363598823547363, -2.915588855743408, 8.83545970916748], [-0.4800280034542084, -2.915588855743408, 7.4665398597717285], [-0.7604010105133057, -2.915588855743408, 5.620200157165527], [-0.5281929969787598, -2.7784829139709473, 3.817840099334717], [0.08128730207681656, -2.31558895111084, 2.300879955291748]]", "geodesic_distance": 10.581279754638672, "gt_locations": "[[-5.353730201721191, -2.915588855743408, 9.804840087890625], [-5.137223720550537, -2.915588855743408, 9.679840087890625], [-4.920717239379883, -2.915588855743408, 9.554840087890625], [-4.679235935211182, -2.915588855743408, 9.490135192871094], [-4.4377546310424805, -2.915588855743408, 9.425430297851562], [-4.196273326873779, -2.915588855743408, 9.360725402832031], [-3.954791784286499, -2.915588855743408, 9.2960205078125], [-3.7133102416992188, -2.915588855743408, 9.231315612792969], [-3.4718286991119385, -2.915588855743408, 9.166610717773438], [-3.230347156524658, -2.915588855743408, 9.101905822753906], [-2.988865613937378, -2.915588855743408, 9.037200927734375], [-2.7473840713500977, -2.915588855743408, 8.972496032714844], [-2.5308775901794434, -2.915588855743408, 8.847496032714844], [-2.289396047592163, -2.915588855743408, 8.782791137695312], [-2.072889804840088, -2.915588855743408, 8.657791137695312], [-1.8314083814620972, -2.915588855743408, 8.593086242675781], [-1.6149020195007324, -2.915588855743408, 8.468086242675781], [-1.4381253719329834, -2.915588855743408, 8.291309356689453], [-1.2216190099716187, -2.915588855743408, 8.166309356689453], [-1.0448423624038696, -2.915588855743408, 7.989532470703125], [-0.8680657148361206, -2.915588855743408, 7.812755584716797], [-0.6912890672683716, -2.915588855743408, 7.635978698730469], [-0.6912891268730164, -2.915588855743408, 7.385978698730469], [-0.6912891864776611, -2.915588855743408, 7.135978698730469], [-0.6912892460823059, -2.915588855743408, 6.885978698730469], [-0.6912893056869507, -2.915588855743408, 6.635978698730469], [-0.6912893652915955, -2.915588855743408, 6.385978698730469], [-0.6912894248962402, -2.915588855743408, 6.135978698730469], [-0.691289484500885, -2.915588855743408, 5.885978698730469], [-0.6912895441055298, -2.915588855743408, 5.635978698730469], [-0.6912896037101746, -2.915588855743408, 5.385978698730469], [-0.6912896633148193, -2.915588855743408, 5.135978698730469], [-0.6912897229194641, -2.915588855743408, 4.885978698730469], [-0.6912897825241089, -2.915588855743408, 4.635978698730469], [-0.626585066318512, -2.8896470069885254, 4.394497394561768], [-0.561880350112915, -2.8440027236938477, 4.153016090393066], [-0.4971756637096405, -2.79835844039917, 3.911534547805786], [-0.43247097730636597, -2.752714157104492, 3.670053005218506], [-0.36776629090309143, -2.664752721786499, 3.4285714626312256], [-0.3030616044998169, -2.454847812652588, 3.1870899200439453], [-0.23835691809654236, -2.391216993331909, 2.945608377456665], [-0.11335697025060654, -2.31558895111084, 2.7291018962860107]]", "gt_actions": "[1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 378, "episode_id": "379", "scene_id": "1LXtFkjw3qL", "instruction": "Leave bedroom and turn left into hallway. Walk up three steps and stand next to painting on the wall. ", "start_position": [-5.353730201721191, -2.915588855743408, 9.804840087890625], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [0.08128730207681656, -2.31558895111084, 2.300879955291748], "goal_radius": 3.0, "reference_path": "[[-5.353730201721191, -2.915588855743408, 9.804840087890625], [-4.50747013092041, -2.915588855743408, 9.430009841918945], [-2.4363598823547363, -2.915588855743408, 8.83545970916748], [-0.4800280034542084, -2.915588855743408, 7.4665398597717285], [-0.7604010105133057, -2.915588855743408, 5.620200157165527], [-0.5281929969787598, -2.7784829139709473, 3.817840099334717], [0.08128730207681656, -2.31558895111084, 2.300879955291748]]", "geodesic_distance": 10.581279754638672, "gt_locations": "[[-5.353730201721191, -2.915588855743408, 9.804840087890625], [-5.137223720550537, -2.915588855743408, 9.679840087890625], [-4.920717239379883, -2.915588855743408, 9.554840087890625], [-4.679235935211182, -2.915588855743408, 9.490135192871094], [-4.4377546310424805, -2.915588855743408, 9.425430297851562], [-4.196273326873779, -2.915588855743408, 9.360725402832031], [-3.954791784286499, -2.915588855743408, 9.2960205078125], [-3.7133102416992188, -2.915588855743408, 9.231315612792969], [-3.4718286991119385, -2.915588855743408, 9.166610717773438], [-3.230347156524658, -2.915588855743408, 9.101905822753906], [-2.988865613937378, -2.915588855743408, 9.037200927734375], [-2.7473840713500977, -2.915588855743408, 8.972496032714844], [-2.5308775901794434, -2.915588855743408, 8.847496032714844], [-2.289396047592163, -2.915588855743408, 8.782791137695312], [-2.072889804840088, -2.915588855743408, 8.657791137695312], [-1.8314083814620972, -2.915588855743408, 8.593086242675781], [-1.6149020195007324, -2.915588855743408, 8.468086242675781], [-1.4381253719329834, -2.915588855743408, 8.291309356689453], [-1.2216190099716187, -2.915588855743408, 8.166309356689453], [-1.0448423624038696, -2.915588855743408, 7.989532470703125], [-0.8680657148361206, -2.915588855743408, 7.812755584716797], [-0.6912890672683716, -2.915588855743408, 7.635978698730469], [-0.6912891268730164, -2.915588855743408, 7.385978698730469], [-0.6912891864776611, -2.915588855743408, 7.135978698730469], [-0.6912892460823059, -2.915588855743408, 6.885978698730469], [-0.6912893056869507, -2.915588855743408, 6.635978698730469], [-0.6912893652915955, -2.915588855743408, 6.385978698730469], [-0.6912894248962402, -2.915588855743408, 6.135978698730469], [-0.691289484500885, -2.915588855743408, 5.885978698730469], [-0.6912895441055298, -2.915588855743408, 5.635978698730469], [-0.6912896037101746, -2.915588855743408, 5.385978698730469], [-0.6912896633148193, -2.915588855743408, 5.135978698730469], [-0.6912897229194641, -2.915588855743408, 4.885978698730469], [-0.6912897825241089, -2.915588855743408, 4.635978698730469], [-0.626585066318512, -2.8896470069885254, 4.394497394561768], [-0.561880350112915, -2.8440027236938477, 4.153016090393066], [-0.4971756637096405, -2.79835844039917, 3.911534547805786], [-0.43247097730636597, -2.752714157104492, 3.670053005218506], [-0.36776629090309143, -2.664752721786499, 3.4285714626312256], [-0.3030616044998169, -2.454847812652588, 3.1870899200439453], [-0.23835691809654236, -2.391216993331909, 2.945608377456665], [-0.11335697025060654, -2.31558895111084, 2.7291018962860107]]", "gt_actions": "[1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 379, "episode_id": "380", "scene_id": "1pXnuDYAj8r", "instruction": "Walk from piano, across living room into dining room. Turn left and walk to living room and stop at fireplace. 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{"id": 380, "episode_id": "381", "scene_id": "1pXnuDYAj8r", "instruction": "Exit the living room area and take a left. Enter the kitchen and take a left. Wait by the fireplace. 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{"id": 381, "episode_id": "382", "scene_id": "1pXnuDYAj8r", "instruction": "Walk out from behind the piano and towards the dining room table. Once you reach the table, turn left and enter the next room with a table. Once in that room, turn left and then stop in front of the mantle. 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{"id": 382, "episode_id": "383", "scene_id": "p5wJjkQkbXX", "instruction": "Go inside, turn right and go passed the sitting mirror, turn right and go into the left doorway near the white and gold painting, take a step inside the room and stop. ", "start_position": [0.03284339979290962, 0.011268138885498047, 3.4118599891662598], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [6.5772199630737305, 0.03397093713283539, 3.3997199535369873], "goal_radius": 3.0, "reference_path": "[[0.03284339979290962, 0.011268138885498047, 3.4118599891662598], [0.026360999792814255, 0.011268138885498047, 1.4538400173187256], [-0.12276899814605713, 0.011268138885498047, 0.08704639971256256], [3.3522300720214844, 0.11794724315404892, 0.5165510177612305], [5.666470050811768, 0.21126818656921387, 0.20743800699710846], [6.434700012207031, 0.07038337737321854, 2.030519962310791], [6.5772199630737305, 0.03397093713283539, 3.3997199535369873]]", "geodesic_distance": 10.951845169067383, "gt_locations": "[[0.03284339979290962, 0.011268138885498047, 3.4118599891662598], [0.03284339979290962, 0.011268138885498047, 3.1618599891662598], [0.03284339979290962, 0.011268138885498047, 2.9118599891662598], [0.03284339979290962, 0.011268138885498047, 2.6618599891662598], [0.03284339979290962, 0.011268138885498047, 2.4118599891662598], [0.03284339979290962, 0.011268138885498047, 2.1618599891662598], [0.03284339979290962, 0.14899970591068268, 1.9118599891662598], [0.03284339979290962, 0.05219816416501999, 1.6618599891662598], [0.03284339979290962, 0.011268138885498047, 1.4118599891662598], [0.03284339979290962, 0.011268138885498047, 1.1618599891662598], [0.03284339979290962, 0.011268138885498047, 0.9118599891662598], [-0.03186136856675148, 0.011268138885498047, 0.670378565788269], [-0.09656614065170288, 0.011268138885498047, 0.42889711260795593], [0.14491534233093262, 0.011268138885498047, 0.3641923666000366], [0.3863968253135681, 0.011268138885498047, 0.2994875907897949], [0.6416471600532532, 0.011268138885498047, 0.2953469753265381], [0.891647219657898, 0.011268138885498047, 0.2953469753265381], [1.141647219657898, 0.011268138885498047, 0.2953469753265381], [1.391647219657898, 0.011268138885498047, 0.2953469753265381], [1.641647219657898, 0.011268138885498047, 0.2953469753265381], [1.891647219657898, 0.011268138885498047, 0.2953469753265381], [2.1416473388671875, 0.1007956713438034, 0.2953469753265381], [2.3831288814544678, 0.06424099206924438, 0.3600517213344574], [2.624610424041748, 0.027686282992362976, 0.4247564673423767], [2.8660919666290283, 0.06607471406459808, 0.489461213350296], [3.1160919666290283, 0.17676901817321777, 0.48946118354797363], [3.3660919666290283, 0.11484941840171814, 0.48946112394332886], [3.6160919666290283, 0.16569025814533234, 0.4894610643386841], [3.8575735092163086, 0.21126818656921387, 0.4247562289237976], [4.09905481338501, 0.21126818656921387, 0.36005139350891113], [4.340536117553711, 0.21126818656921387, 0.29534655809402466], [4.590536117553711, 0.21126818656921387, 0.2953464984893799], [4.840536117553711, 0.21126818656921387, 0.2953464388847351], [5.090536117553711, 0.21126818656921387, 0.29534637928009033], [5.340536117553711, 0.21126818656921387, 0.29534631967544556], [5.465536117553711, 0.09950001537799835, 0.5118526220321655], [5.590536117553711, 0.039352573454380035, 0.7283589839935303], [5.715536117553711, 0.011268138885498047, 0.944865345954895], [5.840536117553711, 0.011268138885498047, 1.1613717079162598], [5.965536117553711, 0.011268138885498047, 1.3778780698776245], [6.090536117553711, 0.011268138885498047, 1.5943844318389893], [6.215536117553711, 0.037565927952528, 1.810890793800354], [6.280241012573242, 0.1379614621400833, 2.0523722171783447], [6.344945907592773, 0.030689530074596405, 2.293853759765625], [6.409650802612305, 0.16939768195152283, 2.5353353023529053], [6.474355697631836, 0.10418210178613663, 2.7768168449401855], [6.539060592651367, 0.033133089542388916, 3.018298387527466]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 3, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 383, "episode_id": "384", "scene_id": "p5wJjkQkbXX", "instruction": "Walk straight ahead into the wood door in front of you. Once inside turn right and walk past the stairs. Turn right once you past the stairs and meet the wall with the painting. Enter the door on your left and stop facing the desk. ", "start_position": [0.03284339979290962, 0.011268138885498047, 3.4118599891662598], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [6.5772199630737305, 0.03397093713283539, 3.3997199535369873], "goal_radius": 3.0, "reference_path": "[[0.03284339979290962, 0.011268138885498047, 3.4118599891662598], [0.026360999792814255, 0.011268138885498047, 1.4538400173187256], [-0.12276899814605713, 0.011268138885498047, 0.08704639971256256], [3.3522300720214844, 0.11794724315404892, 0.5165510177612305], [5.666470050811768, 0.21126818656921387, 0.20743800699710846], [6.434700012207031, 0.07038337737321854, 2.030519962310791], [6.5772199630737305, 0.03397093713283539, 3.3997199535369873]]", "geodesic_distance": 10.951845169067383, "gt_locations": "[[0.03284339979290962, 0.011268138885498047, 3.4118599891662598], [0.03284339979290962, 0.011268138885498047, 3.1618599891662598], [0.03284339979290962, 0.011268138885498047, 2.9118599891662598], [0.03284339979290962, 0.011268138885498047, 2.6618599891662598], [0.03284339979290962, 0.011268138885498047, 2.4118599891662598], [0.03284339979290962, 0.011268138885498047, 2.1618599891662598], [0.03284339979290962, 0.14899970591068268, 1.9118599891662598], [0.03284339979290962, 0.05219816416501999, 1.6618599891662598], [0.03284339979290962, 0.011268138885498047, 1.4118599891662598], [0.03284339979290962, 0.011268138885498047, 1.1618599891662598], [0.03284339979290962, 0.011268138885498047, 0.9118599891662598], [-0.03186136856675148, 0.011268138885498047, 0.670378565788269], [-0.09656614065170288, 0.011268138885498047, 0.42889711260795593], [0.14491534233093262, 0.011268138885498047, 0.3641923666000366], [0.3863968253135681, 0.011268138885498047, 0.2994875907897949], [0.6416471600532532, 0.011268138885498047, 0.2953469753265381], [0.891647219657898, 0.011268138885498047, 0.2953469753265381], [1.141647219657898, 0.011268138885498047, 0.2953469753265381], [1.391647219657898, 0.011268138885498047, 0.2953469753265381], [1.641647219657898, 0.011268138885498047, 0.2953469753265381], [1.891647219657898, 0.011268138885498047, 0.2953469753265381], [2.1416473388671875, 0.1007956713438034, 0.2953469753265381], [2.3831288814544678, 0.06424099206924438, 0.3600517213344574], [2.624610424041748, 0.027686282992362976, 0.4247564673423767], [2.8660919666290283, 0.06607471406459808, 0.489461213350296], [3.1160919666290283, 0.17676901817321777, 0.48946118354797363], [3.3660919666290283, 0.11484941840171814, 0.48946112394332886], [3.6160919666290283, 0.16569025814533234, 0.4894610643386841], [3.8575735092163086, 0.21126818656921387, 0.4247562289237976], [4.09905481338501, 0.21126818656921387, 0.36005139350891113], [4.340536117553711, 0.21126818656921387, 0.29534655809402466], [4.590536117553711, 0.21126818656921387, 0.2953464984893799], [4.840536117553711, 0.21126818656921387, 0.2953464388847351], [5.090536117553711, 0.21126818656921387, 0.29534637928009033], [5.340536117553711, 0.21126818656921387, 0.29534631967544556], [5.465536117553711, 0.09950001537799835, 0.5118526220321655], [5.590536117553711, 0.039352573454380035, 0.7283589839935303], [5.715536117553711, 0.011268138885498047, 0.944865345954895], [5.840536117553711, 0.011268138885498047, 1.1613717079162598], [5.965536117553711, 0.011268138885498047, 1.3778780698776245], [6.090536117553711, 0.011268138885498047, 1.5943844318389893], [6.215536117553711, 0.037565927952528, 1.810890793800354], [6.280241012573242, 0.1379614621400833, 2.0523722171783447], [6.344945907592773, 0.030689530074596405, 2.293853759765625], [6.409650802612305, 0.16939768195152283, 2.5353353023529053], [6.474355697631836, 0.10418210178613663, 2.7768168449401855], [6.539060592651367, 0.033133089542388916, 3.018298387527466]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 3, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 384, "episode_id": "385", "scene_id": "p5wJjkQkbXX", "instruction": "Go straight and when you get to a large room turn right and head down the hallway then turn right when you get to a white and blue painting on the wall. Then turn left into the room on the left and wait at the entrance. ", "start_position": [0.03284339979290962, 0.011268138885498047, 3.4118599891662598], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [6.5772199630737305, 0.03397093713283539, 3.3997199535369873], "goal_radius": 3.0, "reference_path": "[[0.03284339979290962, 0.011268138885498047, 3.4118599891662598], [0.026360999792814255, 0.011268138885498047, 1.4538400173187256], [-0.12276899814605713, 0.011268138885498047, 0.08704639971256256], [3.3522300720214844, 0.11794724315404892, 0.5165510177612305], [5.666470050811768, 0.21126818656921387, 0.20743800699710846], [6.434700012207031, 0.07038337737321854, 2.030519962310791], [6.5772199630737305, 0.03397093713283539, 3.3997199535369873]]", "geodesic_distance": 10.951845169067383, "gt_locations": "[[0.03284339979290962, 0.011268138885498047, 3.4118599891662598], [0.03284339979290962, 0.011268138885498047, 3.1618599891662598], [0.03284339979290962, 0.011268138885498047, 2.9118599891662598], [0.03284339979290962, 0.011268138885498047, 2.6618599891662598], [0.03284339979290962, 0.011268138885498047, 2.4118599891662598], [0.03284339979290962, 0.011268138885498047, 2.1618599891662598], [0.03284339979290962, 0.14899970591068268, 1.9118599891662598], [0.03284339979290962, 0.05219816416501999, 1.6618599891662598], [0.03284339979290962, 0.011268138885498047, 1.4118599891662598], [0.03284339979290962, 0.011268138885498047, 1.1618599891662598], [0.03284339979290962, 0.011268138885498047, 0.9118599891662598], [-0.03186136856675148, 0.011268138885498047, 0.670378565788269], [-0.09656614065170288, 0.011268138885498047, 0.42889711260795593], [0.14491534233093262, 0.011268138885498047, 0.3641923666000366], [0.3863968253135681, 0.011268138885498047, 0.2994875907897949], [0.6416471600532532, 0.011268138885498047, 0.2953469753265381], [0.891647219657898, 0.011268138885498047, 0.2953469753265381], [1.141647219657898, 0.011268138885498047, 0.2953469753265381], [1.391647219657898, 0.011268138885498047, 0.2953469753265381], [1.641647219657898, 0.011268138885498047, 0.2953469753265381], [1.891647219657898, 0.011268138885498047, 0.2953469753265381], [2.1416473388671875, 0.1007956713438034, 0.2953469753265381], [2.3831288814544678, 0.06424099206924438, 0.3600517213344574], [2.624610424041748, 0.027686282992362976, 0.4247564673423767], [2.8660919666290283, 0.06607471406459808, 0.489461213350296], [3.1160919666290283, 0.17676901817321777, 0.48946118354797363], [3.3660919666290283, 0.11484941840171814, 0.48946112394332886], [3.6160919666290283, 0.16569025814533234, 0.4894610643386841], [3.8575735092163086, 0.21126818656921387, 0.4247562289237976], [4.09905481338501, 0.21126818656921387, 0.36005139350891113], [4.340536117553711, 0.21126818656921387, 0.29534655809402466], [4.590536117553711, 0.21126818656921387, 0.2953464984893799], [4.840536117553711, 0.21126818656921387, 0.2953464388847351], [5.090536117553711, 0.21126818656921387, 0.29534637928009033], [5.340536117553711, 0.21126818656921387, 0.29534631967544556], [5.465536117553711, 0.09950001537799835, 0.5118526220321655], [5.590536117553711, 0.039352573454380035, 0.7283589839935303], [5.715536117553711, 0.011268138885498047, 0.944865345954895], [5.840536117553711, 0.011268138885498047, 1.1613717079162598], [5.965536117553711, 0.011268138885498047, 1.3778780698776245], [6.090536117553711, 0.011268138885498047, 1.5943844318389893], [6.215536117553711, 0.037565927952528, 1.810890793800354], [6.280241012573242, 0.1379614621400833, 2.0523722171783447], [6.344945907592773, 0.030689530074596405, 2.293853759765625], [6.409650802612305, 0.16939768195152283, 2.5353353023529053], [6.474355697631836, 0.10418210178613663, 2.7768168449401855], [6.539060592651367, 0.033133089542388916, 3.018298387527466]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 3, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 385, "episode_id": "386", "scene_id": "b8cTxDM8gDG", "instruction": "Turn around and exit the bedroom. Turn right and wait outside next to the welcome rug. ", "start_position": [-3.587543487548828, -3.1467251777648926, 2.064805507659912], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-6.281819820404053, -2.9467251300811768, 0.17991900444030762], "goal_radius": 3.0, "reference_path": "[[-3.587543487548828, -3.1467251777648926, 2.064805507659912], [-4.288189888000488, -3.1467251777648926, 1.9320600032806396], [-5.35168981552124, -3.1467251777648926, 1.9613100290298462], [-6.802999973297119, -2.687941312789917, 1.8795900344848633], [-8.631409645080566, -2.8114750385284424, 1.0033299922943115], [-8.110750198364258, -2.9308793544769287, 0.7016819715499878], [-6.281819820404053, -2.9467251300811768, 0.17991900444030762]]", "geodesic_distance": 6.034909248352051, "gt_locations": "[[-3.587543487548828, -3.1467251777648926, 2.064805507659912], [-3.8290250301361084, -3.1467251777648926, 2.00010085105896], [-4.0790252685546875, -3.1467251777648926, 2.00010085105896], [-4.3290252685546875, -3.1467251777648926, 2.00010085105896], [-4.5790252685546875, -3.1467251777648926, 2.00010085105896], [-4.8290252685546875, -3.1467251777648926, 2.00010085105896], [-5.0790252685546875, -3.1467251777648926, 2.00010085105896], [-5.3290252685546875, -3.1467251777648926, 2.00010085105896], [-5.5790252685546875, -3.1467251777648926, 2.00010085105896], [-5.8290252685546875, -3.1467251777648926, 2.00010085105896], [-6.0790252685546875, -2.91365385055542, 2.00010085105896], [-6.3290252685546875, -2.6474292278289795, 2.00010085105896], [-6.5790252685546875, -2.603240489959717, 2.00010085105896], [-6.820506572723389, -2.6928937435150146, 1.9353960752487183], [-7.037013053894043, -2.7749876976013184, 1.8103960752487183], [-7.278494358062744, -2.851726770401001, 1.7456912994384766], [-7.495000839233398, -2.9147613048553467, 1.6206912994384766], [-7.7364821434021, -2.9032864570617676, 1.5559865236282349], [-7.952988624572754, -2.9089951515197754, 1.4309865236282349], [-8.16949462890625, -2.8785624504089355, 1.3059865236282349], [-8.386000633239746, -2.8481297492980957, 1.1809865236282349], [-8.261000633239746, -2.848369836807251, 0.9644802212715149], [-8.04449462890625, -2.9467251300811768, 0.8394802808761597], [-7.827988147735596, -2.9256770610809326, 0.7144803404808044], [-7.5865068435668945, -2.795656204223633, 0.6497756242752075], [-7.345025539398193, -2.7654404640197754, 0.5850709080696106], [-7.103544235229492, -2.9467251300811768, 0.5203661918640137], [-6.862062931060791, -2.9467251300811768, 0.45566147565841675], [-6.645556449890137, -2.9467251300811768, 0.3306615352630615]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 386, "episode_id": "387", "scene_id": "b8cTxDM8gDG", "instruction": "Exit the room and go straight until you get to the stairs. U Turn right and go out the door that leads to the outside and wait there. ", "start_position": [-3.587543487548828, -3.1467251777648926, 2.064805507659912], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-6.281819820404053, -2.9467251300811768, 0.17991900444030762], "goal_radius": 3.0, "reference_path": "[[-3.587543487548828, -3.1467251777648926, 2.064805507659912], [-4.288189888000488, -3.1467251777648926, 1.9320600032806396], [-5.35168981552124, -3.1467251777648926, 1.9613100290298462], [-6.802999973297119, -2.687941312789917, 1.8795900344848633], [-8.631409645080566, -2.8114750385284424, 1.0033299922943115], [-8.110750198364258, -2.9308793544769287, 0.7016819715499878], [-6.281819820404053, -2.9467251300811768, 0.17991900444030762]]", "geodesic_distance": 6.034909248352051, "gt_locations": "[[-3.587543487548828, -3.1467251777648926, 2.064805507659912], [-3.8290250301361084, -3.1467251777648926, 2.00010085105896], [-4.0790252685546875, -3.1467251777648926, 2.00010085105896], [-4.3290252685546875, -3.1467251777648926, 2.00010085105896], [-4.5790252685546875, -3.1467251777648926, 2.00010085105896], [-4.8290252685546875, -3.1467251777648926, 2.00010085105896], [-5.0790252685546875, -3.1467251777648926, 2.00010085105896], [-5.3290252685546875, -3.1467251777648926, 2.00010085105896], [-5.5790252685546875, -3.1467251777648926, 2.00010085105896], [-5.8290252685546875, -3.1467251777648926, 2.00010085105896], [-6.0790252685546875, -2.91365385055542, 2.00010085105896], [-6.3290252685546875, -2.6474292278289795, 2.00010085105896], [-6.5790252685546875, -2.603240489959717, 2.00010085105896], [-6.820506572723389, -2.6928937435150146, 1.9353960752487183], [-7.037013053894043, -2.7749876976013184, 1.8103960752487183], [-7.278494358062744, -2.851726770401001, 1.7456912994384766], [-7.495000839233398, -2.9147613048553467, 1.6206912994384766], [-7.7364821434021, -2.9032864570617676, 1.5559865236282349], [-7.952988624572754, -2.9089951515197754, 1.4309865236282349], [-8.16949462890625, -2.8785624504089355, 1.3059865236282349], [-8.386000633239746, -2.8481297492980957, 1.1809865236282349], [-8.261000633239746, -2.848369836807251, 0.9644802212715149], [-8.04449462890625, -2.9467251300811768, 0.8394802808761597], [-7.827988147735596, -2.9256770610809326, 0.7144803404808044], [-7.5865068435668945, -2.795656204223633, 0.6497756242752075], [-7.345025539398193, -2.7654404640197754, 0.5850709080696106], [-7.103544235229492, -2.9467251300811768, 0.5203661918640137], [-6.862062931060791, -2.9467251300811768, 0.45566147565841675], [-6.645556449890137, -2.9467251300811768, 0.3306615352630615]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 387, "episode_id": "388", "scene_id": "b8cTxDM8gDG", "instruction": "Leave the bedroom, and go up the stairs. Take a right in front of the stairs, and go outside. Stop at the top of the stairs on the porch. ", "start_position": [-3.587543487548828, -3.1467251777648926, 2.064805507659912], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-6.281819820404053, -2.9467251300811768, 0.17991900444030762], "goal_radius": 3.0, "reference_path": "[[-3.587543487548828, -3.1467251777648926, 2.064805507659912], [-4.288189888000488, -3.1467251777648926, 1.9320600032806396], [-5.35168981552124, -3.1467251777648926, 1.9613100290298462], [-6.802999973297119, -2.687941312789917, 1.8795900344848633], [-8.631409645080566, -2.8114750385284424, 1.0033299922943115], [-8.110750198364258, -2.9308793544769287, 0.7016819715499878], [-6.281819820404053, -2.9467251300811768, 0.17991900444030762]]", "geodesic_distance": 6.034909248352051, "gt_locations": "[[-3.587543487548828, -3.1467251777648926, 2.064805507659912], [-3.8290250301361084, -3.1467251777648926, 2.00010085105896], [-4.0790252685546875, -3.1467251777648926, 2.00010085105896], [-4.3290252685546875, -3.1467251777648926, 2.00010085105896], [-4.5790252685546875, -3.1467251777648926, 2.00010085105896], [-4.8290252685546875, -3.1467251777648926, 2.00010085105896], [-5.0790252685546875, -3.1467251777648926, 2.00010085105896], [-5.3290252685546875, -3.1467251777648926, 2.00010085105896], [-5.5790252685546875, -3.1467251777648926, 2.00010085105896], [-5.8290252685546875, -3.1467251777648926, 2.00010085105896], [-6.0790252685546875, -2.91365385055542, 2.00010085105896], [-6.3290252685546875, -2.6474292278289795, 2.00010085105896], [-6.5790252685546875, -2.603240489959717, 2.00010085105896], [-6.820506572723389, -2.6928937435150146, 1.9353960752487183], [-7.037013053894043, -2.7749876976013184, 1.8103960752487183], [-7.278494358062744, -2.851726770401001, 1.7456912994384766], [-7.495000839233398, -2.9147613048553467, 1.6206912994384766], [-7.7364821434021, -2.9032864570617676, 1.5559865236282349], [-7.952988624572754, -2.9089951515197754, 1.4309865236282349], [-8.16949462890625, -2.8785624504089355, 1.3059865236282349], [-8.386000633239746, -2.8481297492980957, 1.1809865236282349], [-8.261000633239746, -2.848369836807251, 0.9644802212715149], [-8.04449462890625, -2.9467251300811768, 0.8394802808761597], [-7.827988147735596, -2.9256770610809326, 0.7144803404808044], [-7.5865068435668945, -2.795656204223633, 0.6497756242752075], [-7.345025539398193, -2.7654404640197754, 0.5850709080696106], [-7.103544235229492, -2.9467251300811768, 0.5203661918640137], [-6.862062931060791, -2.9467251300811768, 0.45566147565841675], [-6.645556449890137, -2.9467251300811768, 0.3306615352630615]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 388, "episode_id": "389", "scene_id": "r1Q1Z4BcV1o", "instruction": "Pass the stairs on the right and then pass the fireplace on the left. The pass the bar on the right and wait right outside of the double doors. 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{"id": 389, "episode_id": "390", "scene_id": "r1Q1Z4BcV1o", "instruction": "Walk to the left of the stairs that go up and to the right of the fireplace. Continue straight and go outside through the double doors. Stop a couple of feet outside the door. 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{"id": 390, "episode_id": "391", "scene_id": "r1Q1Z4BcV1o", "instruction": "Walk straight past the long white table and fireplace.  Once you reach the bar, continue straight through the double doors outside to the patio. 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{"id": 391, "episode_id": "392", "scene_id": "e9zR4mvMWw7", "instruction": "Walk out of the bathroom and wait on the stairs that are on the right. ", "start_position": [9.208189964294434, 2.8866939544677734, 5.8892598152160645], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [12.038800239562988, 2.5010733604431152, -0.01519440021365881], "goal_radius": 3.0, "reference_path": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [10.741900444030762, 2.8866939544677734, 5.8441901206970215], [10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518], [12.038800239562988, 2.5010733604431152, -0.01519440021365881]]", "geodesic_distance": 7.394726276397705, "gt_locations": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [9.458189964294434, 2.8866939544677734, 5.8892598152160645], [9.699671745300293, 2.8866939544677734, 5.824554920196533], [9.949671745300293, 2.8866939544677734, 5.824554920196533], [10.199671745300293, 2.8866939544677734, 5.824554920196533], [10.449671745300293, 2.8866939544677734, 5.824554920196533], [10.626448631286621, 2.8866939544677734, 5.647778034210205], [10.758763313293457, 2.8866939544677734, 5.434928894042969], [10.823468208312988, 2.8866939544677734, 5.193447589874268], [10.88817310333252, 2.8866939544677734, 4.951966285705566], [10.88817310333252, 2.8866939544677734, 4.701966285705566], [10.88817310333252, 2.8866939544677734, 4.451966285705566], [10.88817310333252, 2.8866939544677734, 4.201966285705566], [10.88817310333252, 2.8866939544677734, 3.9519662857055664], [10.88817310333252, 2.8866939544677734, 3.7019662857055664], [10.88817310333252, 2.8866939544677734, 3.4519662857055664], [10.88817310333252, 2.8866939544677734, 3.2019662857055664], [10.88817310333252, 2.8866939544677734, 2.9519662857055664], [10.88817310333252, 2.8866939544677734, 2.7019662857055664], [10.823468208312988, 2.8866939544677734, 2.460484743118286], [10.948468208312988, 2.8866939544677734, 2.243978500366211], [11.073468208312988, 2.8866939544677734, 2.0274722576141357], [11.13817310333252, 2.8866939544677734, 1.785990834236145], [11.26317310333252, 2.8866939544677734, 1.5694844722747803], [11.428704261779785, 2.8866939544677734, 1.3477234840393066], [11.553704261779785, 2.8866939544677734, 1.131217122077942], [11.678704261779785, 2.8866939544677734, 0.9147107601165771], [11.803704261779785, 2.8866939544677734, 0.6982043981552124], [11.868409156799316, 2.8639445304870605, 0.4567229449748993], [11.933114051818848, 2.6825547218322754, 0.21524149179458618]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 392, "episode_id": "393", "scene_id": "e9zR4mvMWw7", "instruction": "Exit the bathroom, walk down the hall, and start down the stairs. Stop two steps down. ", "start_position": [9.208189964294434, 2.8866939544677734, 5.8892598152160645], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [12.038800239562988, 2.5010733604431152, -0.01519440021365881], "goal_radius": 3.0, "reference_path": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [10.741900444030762, 2.8866939544677734, 5.8441901206970215], [10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518], [12.038800239562988, 2.5010733604431152, -0.01519440021365881]]", "geodesic_distance": 7.394726276397705, "gt_locations": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [9.458189964294434, 2.8866939544677734, 5.8892598152160645], [9.699671745300293, 2.8866939544677734, 5.824554920196533], [9.949671745300293, 2.8866939544677734, 5.824554920196533], [10.199671745300293, 2.8866939544677734, 5.824554920196533], [10.449671745300293, 2.8866939544677734, 5.824554920196533], [10.626448631286621, 2.8866939544677734, 5.647778034210205], [10.758763313293457, 2.8866939544677734, 5.434928894042969], [10.823468208312988, 2.8866939544677734, 5.193447589874268], [10.88817310333252, 2.8866939544677734, 4.951966285705566], [10.88817310333252, 2.8866939544677734, 4.701966285705566], [10.88817310333252, 2.8866939544677734, 4.451966285705566], [10.88817310333252, 2.8866939544677734, 4.201966285705566], [10.88817310333252, 2.8866939544677734, 3.9519662857055664], [10.88817310333252, 2.8866939544677734, 3.7019662857055664], [10.88817310333252, 2.8866939544677734, 3.4519662857055664], [10.88817310333252, 2.8866939544677734, 3.2019662857055664], [10.88817310333252, 2.8866939544677734, 2.9519662857055664], [10.88817310333252, 2.8866939544677734, 2.7019662857055664], [10.823468208312988, 2.8866939544677734, 2.460484743118286], [10.948468208312988, 2.8866939544677734, 2.243978500366211], [11.073468208312988, 2.8866939544677734, 2.0274722576141357], [11.13817310333252, 2.8866939544677734, 1.785990834236145], [11.26317310333252, 2.8866939544677734, 1.5694844722747803], [11.428704261779785, 2.8866939544677734, 1.3477234840393066], [11.553704261779785, 2.8866939544677734, 1.131217122077942], [11.678704261779785, 2.8866939544677734, 0.9147107601165771], [11.803704261779785, 2.8866939544677734, 0.6982043981552124], [11.868409156799316, 2.8639445304870605, 0.4567229449748993], [11.933114051818848, 2.6825547218322754, 0.21524149179458618]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 393, "episode_id": "394", "scene_id": "e9zR4mvMWw7", "instruction": "Exit the bathroom using the door on the left then continue straight and go slightly right to wait at the top of the stairs. ", "start_position": [9.208189964294434, 2.8866939544677734, 5.8892598152160645], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [12.038800239562988, 2.5010733604431152, -0.01519440021365881], "goal_radius": 3.0, "reference_path": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [10.741900444030762, 2.8866939544677734, 5.8441901206970215], [10.929900169372559, 2.8866939544677734, 4.773210048675537], [10.902799606323242, 2.8866939544677734, 3.615109920501709], [10.753800392150879, 2.8866939544677734, 2.2058498859405518], [12.038800239562988, 2.5010733604431152, -0.01519440021365881]]", "geodesic_distance": 7.394726276397705, "gt_locations": "[[9.208189964294434, 2.8866939544677734, 5.8892598152160645], [9.458189964294434, 2.8866939544677734, 5.8892598152160645], [9.699671745300293, 2.8866939544677734, 5.824554920196533], [9.949671745300293, 2.8866939544677734, 5.824554920196533], [10.199671745300293, 2.8866939544677734, 5.824554920196533], [10.449671745300293, 2.8866939544677734, 5.824554920196533], [10.626448631286621, 2.8866939544677734, 5.647778034210205], [10.758763313293457, 2.8866939544677734, 5.434928894042969], [10.823468208312988, 2.8866939544677734, 5.193447589874268], [10.88817310333252, 2.8866939544677734, 4.951966285705566], [10.88817310333252, 2.8866939544677734, 4.701966285705566], [10.88817310333252, 2.8866939544677734, 4.451966285705566], [10.88817310333252, 2.8866939544677734, 4.201966285705566], [10.88817310333252, 2.8866939544677734, 3.9519662857055664], [10.88817310333252, 2.8866939544677734, 3.7019662857055664], [10.88817310333252, 2.8866939544677734, 3.4519662857055664], [10.88817310333252, 2.8866939544677734, 3.2019662857055664], [10.88817310333252, 2.8866939544677734, 2.9519662857055664], [10.88817310333252, 2.8866939544677734, 2.7019662857055664], [10.823468208312988, 2.8866939544677734, 2.460484743118286], [10.948468208312988, 2.8866939544677734, 2.243978500366211], [11.073468208312988, 2.8866939544677734, 2.0274722576141357], [11.13817310333252, 2.8866939544677734, 1.785990834236145], [11.26317310333252, 2.8866939544677734, 1.5694844722747803], [11.428704261779785, 2.8866939544677734, 1.3477234840393066], [11.553704261779785, 2.8866939544677734, 1.131217122077942], [11.678704261779785, 2.8866939544677734, 0.9147107601165771], [11.803704261779785, 2.8866939544677734, 0.6982043981552124], [11.868409156799316, 2.8639445304870605, 0.4567229449748993], [11.933114051818848, 2.6825547218322754, 0.21524149179458618]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 0]"}
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{"id": 395, "episode_id": "396", "scene_id": "B6ByNegPMKs", "instruction": "Exit off and walk down hall, turn left at end of hall and wait near exit sign on ceiling. ", "start_position": [26.731700897216797, 0.08020400255918503, 11.276200294494629], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [28.325199127197266, 0.08020400255918503, 22.94540023803711], "goal_radius": 3.0, "reference_path": "[[26.731700897216797, 0.08020400255918503, 11.276200294494629], [26.815900802612305, 0.08020400255918503, 15.05090045928955], [26.800800323486328, 0.08020400255918503, 18.11319923400879], [26.654300689697266, 0.08020400255918503, 19.375999450683594], [26.69569969177246, 0.08020400255918503, 20.091400146484375], [26.6658992767334, 0.08020400255918503, 21.54759979248047], [28.325199127197266, 0.08020400255918503, 22.94540023803711]]", "geodesic_distance": 12.145965576171875, "gt_locations": "[[26.731700897216797, 0.08020400255918503, 11.276200294494629], [26.731700897216797, 0.08020400255918503, 11.526200294494629], [26.731700897216797, 0.08020400255918503, 11.776200294494629], [26.731700897216797, 0.08020400255918503, 12.026200294494629], [26.731700897216797, 0.08020400255918503, 12.276200294494629], [26.731700897216797, 0.08020400255918503, 12.526200294494629], [26.731700897216797, 0.08020400255918503, 12.776200294494629], [26.731700897216797, 0.08020400255918503, 13.026200294494629], [26.731700897216797, 0.08020400255918503, 13.276200294494629], [26.731700897216797, 0.08020400255918503, 13.526200294494629], [26.731700897216797, 0.08020400255918503, 13.776200294494629], [26.731700897216797, 0.08020400255918503, 14.026200294494629], [26.731700897216797, 0.08020400255918503, 14.276200294494629], [26.731700897216797, 0.08020400255918503, 14.526200294494629], [26.796405792236328, 0.08020400255918503, 14.767682075500488], [26.796405792236328, 0.08020400255918503, 15.017682075500488], [26.796405792236328, 0.08020400255918503, 15.267682075500488], [26.796405792236328, 0.08020400255918503, 15.517682075500488], [26.796405792236328, 0.08020400255918503, 15.767682075500488], [26.796405792236328, 0.08020400255918503, 16.017681121826172], [26.796405792236328, 0.08020400255918503, 16.267681121826172], [26.796405792236328, 0.08020400255918503, 16.517681121826172], [26.796405792236328, 0.08020400255918503, 16.767681121826172], [26.796405792236328, 0.08020400255918503, 17.017681121826172], [26.796405792236328, 0.08020400255918503, 17.267681121826172], [26.796405792236328, 0.08020400255918503, 17.517681121826172], [26.796405792236328, 0.08020400255918503, 17.767681121826172], [26.796405792236328, 0.08020400255918503, 18.017681121826172], [26.796405792236328, 0.08020400255918503, 18.267681121826172], [26.796405792236328, 0.08020400255918503, 18.517681121826172], [26.796405792236328, 0.08020400255918503, 18.767681121826172], [26.731700897216797, 0.08020400255918503, 19.00916290283203], [26.731700897216797, 0.08020400255918503, 19.25916290283203], [26.731700897216797, 0.08020400255918503, 19.50916290283203], [26.731700897216797, 0.08020400255918503, 19.75916290283203], [26.731700897216797, 0.08020400255918503, 20.00916290283203], [26.731700897216797, 0.08020400255918503, 20.25916290283203], [26.731700897216797, 0.08020400255918503, 20.50916290283203], [26.731700897216797, 0.08020400255918503, 20.75916290283203], [26.731700897216797, 0.08020400255918503, 21.00916290283203], [26.731700897216797, 0.08020400255918503, 21.25916290283203], [26.856700897216797, 0.08020400255918503, 21.475669860839844], [26.981700897216797, 0.08020400255918503, 21.692176818847656], [27.106700897216797, 0.08020400255918503, 21.90868377685547], [27.283477783203125, 0.08020400255918503, 22.085460662841797], [27.408477783203125, 0.08020400255918503, 22.30196762084961], [27.624984741210938, 0.08020400255918503, 22.42696762084961], [27.84149169921875, 0.08020400255918503, 22.55196762084961], [28.057998657226562, 0.08020400255918503, 22.67696762084961]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 2, 1, 3, 1, 2, 2, 1, 1, 1, 0]"}
{"id": 396, "episode_id": "397", "scene_id": "B6ByNegPMKs", "instruction": "Exit the office and go straight until you get to the end of the hallway then turn left and wait there by the door on the left. ", "start_position": [26.731700897216797, 0.08020400255918503, 11.276200294494629], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [28.325199127197266, 0.08020400255918503, 22.94540023803711], "goal_radius": 3.0, "reference_path": "[[26.731700897216797, 0.08020400255918503, 11.276200294494629], [26.815900802612305, 0.08020400255918503, 15.05090045928955], [26.800800323486328, 0.08020400255918503, 18.11319923400879], [26.654300689697266, 0.08020400255918503, 19.375999450683594], [26.69569969177246, 0.08020400255918503, 20.091400146484375], [26.6658992767334, 0.08020400255918503, 21.54759979248047], [28.325199127197266, 0.08020400255918503, 22.94540023803711]]", "geodesic_distance": 12.145965576171875, "gt_locations": "[[26.731700897216797, 0.08020400255918503, 11.276200294494629], [26.731700897216797, 0.08020400255918503, 11.526200294494629], [26.731700897216797, 0.08020400255918503, 11.776200294494629], [26.731700897216797, 0.08020400255918503, 12.026200294494629], [26.731700897216797, 0.08020400255918503, 12.276200294494629], [26.731700897216797, 0.08020400255918503, 12.526200294494629], [26.731700897216797, 0.08020400255918503, 12.776200294494629], [26.731700897216797, 0.08020400255918503, 13.026200294494629], [26.731700897216797, 0.08020400255918503, 13.276200294494629], [26.731700897216797, 0.08020400255918503, 13.526200294494629], [26.731700897216797, 0.08020400255918503, 13.776200294494629], [26.731700897216797, 0.08020400255918503, 14.026200294494629], [26.731700897216797, 0.08020400255918503, 14.276200294494629], [26.731700897216797, 0.08020400255918503, 14.526200294494629], [26.796405792236328, 0.08020400255918503, 14.767682075500488], [26.796405792236328, 0.08020400255918503, 15.017682075500488], [26.796405792236328, 0.08020400255918503, 15.267682075500488], [26.796405792236328, 0.08020400255918503, 15.517682075500488], [26.796405792236328, 0.08020400255918503, 15.767682075500488], [26.796405792236328, 0.08020400255918503, 16.017681121826172], [26.796405792236328, 0.08020400255918503, 16.267681121826172], [26.796405792236328, 0.08020400255918503, 16.517681121826172], [26.796405792236328, 0.08020400255918503, 16.767681121826172], [26.796405792236328, 0.08020400255918503, 17.017681121826172], [26.796405792236328, 0.08020400255918503, 17.267681121826172], [26.796405792236328, 0.08020400255918503, 17.517681121826172], [26.796405792236328, 0.08020400255918503, 17.767681121826172], [26.796405792236328, 0.08020400255918503, 18.017681121826172], [26.796405792236328, 0.08020400255918503, 18.267681121826172], [26.796405792236328, 0.08020400255918503, 18.517681121826172], [26.796405792236328, 0.08020400255918503, 18.767681121826172], [26.731700897216797, 0.08020400255918503, 19.00916290283203], [26.731700897216797, 0.08020400255918503, 19.25916290283203], [26.731700897216797, 0.08020400255918503, 19.50916290283203], [26.731700897216797, 0.08020400255918503, 19.75916290283203], [26.731700897216797, 0.08020400255918503, 20.00916290283203], [26.731700897216797, 0.08020400255918503, 20.25916290283203], [26.731700897216797, 0.08020400255918503, 20.50916290283203], [26.731700897216797, 0.08020400255918503, 20.75916290283203], [26.731700897216797, 0.08020400255918503, 21.00916290283203], [26.731700897216797, 0.08020400255918503, 21.25916290283203], [26.856700897216797, 0.08020400255918503, 21.475669860839844], [26.981700897216797, 0.08020400255918503, 21.692176818847656], [27.106700897216797, 0.08020400255918503, 21.90868377685547], [27.283477783203125, 0.08020400255918503, 22.085460662841797], [27.408477783203125, 0.08020400255918503, 22.30196762084961], [27.624984741210938, 0.08020400255918503, 22.42696762084961], [27.84149169921875, 0.08020400255918503, 22.55196762084961], [28.057998657226562, 0.08020400255918503, 22.67696762084961]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 2, 1, 3, 1, 2, 2, 1, 1, 1, 0]"}
{"id": 397, "episode_id": "398", "scene_id": "VLzqgDo317F", "instruction": "Turn left and follow the rope. At the end turn left and follow the red carpet to the end. At the end, turn right and stop in front of the white and gold table. ", "start_position": [3.1498000621795654, 3.134824275970459, 10.89780044555664], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-9.112950325012207, 3.238274097442627, 5.714600086212158], "goal_radius": 3.0, "reference_path": "[[3.1498000621795654, 3.134824275970459, 10.89780044555664], [2.6191999912261963, 3.038273811340332, 9.261509895324707], [-0.08698820322751999, 3.285475730895996, 7.32834005355835], [-2.791450023651123, 3.342393159866333, 7.935279846191406], [-4.700560092926025, 3.238274097442627, 7.852089881896973], [-6.338290214538574, 3.238274097442627, 7.803170204162598], [-9.112950325012207, 3.238274097442627, 5.714600086212158]]", "geodesic_distance": 14.73266887664795, "gt_locations": "[[3.1498000621795654, 3.134824275970459, 10.89780044555664], [3.0850954055786133, 3.094568967819214, 10.656318664550781], [3.020390748977661, 3.082951068878174, 10.414836883544922], [2.955686092376709, 3.038273811340332, 10.173355102539062], [2.890981435775757, 3.038273811340332, 9.931873321533203], [2.8262767791748047, 3.038273811340332, 9.690391540527344], [2.7012767791748047, 3.038273811340332, 9.473885536193848], [2.5762767791748047, 3.038273811340332, 9.257379531860352], [2.4512767791748047, 3.038273811340332, 9.040873527526855], [2.3262767791748047, 3.038273811340332, 8.82436752319336], [2.2012767791748047, 3.038273811340332, 8.607861518859863], [1.9555307626724243, 3.038273811340332, 8.504776954650879], [1.7390244007110596, 3.038273811340332, 8.379776954650879], [1.5225180387496948, 3.038273811340332, 8.254776954650879], [1.30601167678833, 3.038273811340332, 8.129776954650879], [1.0895053148269653, 3.0603795051574707, 8.004776954650879], [0.8729990124702454, 3.038273811340332, 7.879776954650879], [0.6564927101135254, 3.038273811340332, 7.754776954650879], [0.4399864077568054, 3.2908403873443604, 7.629776954650879], [0.263209730386734, 3.1074368953704834, 7.453000068664551], [0.013209730386734009, 3.2095906734466553, 7.453000068664551], [-0.236790269613266, 3.2788891792297363, 7.453000068664551], [-0.4782717227935791, 3.3003201484680176, 7.517704963684082], [-0.7197532057762146, 3.330695867538452, 7.582409858703613], [-0.9612346887588501, 3.342855215072632, 7.6471147537231445], [-1.2027161121368408, 3.4202802181243896, 7.711819648742676], [-1.4441975355148315, 3.3348326683044434, 7.776524543762207], [-1.6856789588928223, 3.297537326812744, 7.841229438781738], [-1.9356789588928223, 3.3673014640808105, 7.841229438781738], [-2.1856789588928223, 3.384536027908325, 7.841229438781738], [-2.4356789588928223, 3.3787858486175537, 7.841229438781738], [-2.6856789588928223, 3.3564672470092773, 7.841229438781738], [-2.9356789588928223, 3.3233258724212646, 7.841229438781738], [-3.1856789588928223, 3.2895150184631348, 7.841229438781738], [-3.4356789588928223, 3.255704402923584, 7.841229438781738], [-3.6856789588928223, 3.238274097442627, 7.841229438781738], [-3.9356789588928223, 3.238274097442627, 7.841229438781738], [-4.185678958892822, 3.238274097442627, 7.841229438781738], [-4.435678958892822, 3.238274097442627, 7.841229438781738], [-4.685678958892822, 3.238274097442627, 7.841229438781738], [-4.935678958892822, 3.238274097442627, 7.841229438781738], [-5.185678958892822, 3.238274097442627, 7.841229438781738], [-5.435678958892822, 3.238274097442627, 7.841229438781738], [-5.685678958892822, 3.238274097442627, 7.841229438781738], [-5.935678958892822, 3.238274097442627, 7.841229438781738], [-6.177160263061523, 3.238274097442627, 7.776524543762207], [-6.418641567230225, 3.238274097442627, 7.711819648742676], [-6.660122871398926, 3.238274097442627, 7.6471147537231445], [-6.901604175567627, 3.238274097442627, 7.582409858703613], [-7.143085479736328, 3.238274097442627, 7.517704963684082], [-7.384566783905029, 3.238274097442627, 7.453000068664551], [-7.6260480880737305, 3.238274097442627, 7.3882951736450195], [-7.867529392242432, 3.238274097442627, 7.323590278625488], [-8.109010696411133, 3.238274097442627, 7.258885383605957], [-8.285787582397461, 3.398801803588867, 7.082108497619629], [-8.410787582397461, 3.238274097442627, 6.865602016448975], [-8.535787582397461, 3.238274097442627, 6.64909553527832], [-8.660787582397461, 3.238274097442627, 6.432589054107666], [-8.785787582397461, 3.238274097442627, 6.216082572937012], [-8.910787582397461, 3.238274097442627, 5.999576091766357]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 398, "episode_id": "399", "scene_id": "VLzqgDo317F", "instruction": "Walk past the roped-off furniture display across from the four white columns. Head down the hallway. go past the two fire extinguishers sitting on the floor to the left and then make a right turn. Step over the rope and stop by the round white table. ", "start_position": [3.1498000621795654, 3.134824275970459, 10.89780044555664], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-9.112950325012207, 3.238274097442627, 5.714600086212158], "goal_radius": 3.0, "reference_path": "[[3.1498000621795654, 3.134824275970459, 10.89780044555664], [2.6191999912261963, 3.038273811340332, 9.261509895324707], [-0.08698820322751999, 3.285475730895996, 7.32834005355835], [-2.791450023651123, 3.342393159866333, 7.935279846191406], [-4.700560092926025, 3.238274097442627, 7.852089881896973], [-6.338290214538574, 3.238274097442627, 7.803170204162598], [-9.112950325012207, 3.238274097442627, 5.714600086212158]]", "geodesic_distance": 14.73266887664795, "gt_locations": "[[3.1498000621795654, 3.134824275970459, 10.89780044555664], [3.0850954055786133, 3.094568967819214, 10.656318664550781], [3.020390748977661, 3.082951068878174, 10.414836883544922], [2.955686092376709, 3.038273811340332, 10.173355102539062], [2.890981435775757, 3.038273811340332, 9.931873321533203], [2.8262767791748047, 3.038273811340332, 9.690391540527344], [2.7012767791748047, 3.038273811340332, 9.473885536193848], [2.5762767791748047, 3.038273811340332, 9.257379531860352], [2.4512767791748047, 3.038273811340332, 9.040873527526855], [2.3262767791748047, 3.038273811340332, 8.82436752319336], [2.2012767791748047, 3.038273811340332, 8.607861518859863], [1.9555307626724243, 3.038273811340332, 8.504776954650879], [1.7390244007110596, 3.038273811340332, 8.379776954650879], [1.5225180387496948, 3.038273811340332, 8.254776954650879], [1.30601167678833, 3.038273811340332, 8.129776954650879], [1.0895053148269653, 3.0603795051574707, 8.004776954650879], [0.8729990124702454, 3.038273811340332, 7.879776954650879], [0.6564927101135254, 3.038273811340332, 7.754776954650879], [0.4399864077568054, 3.2908403873443604, 7.629776954650879], [0.263209730386734, 3.1074368953704834, 7.453000068664551], [0.013209730386734009, 3.2095906734466553, 7.453000068664551], [-0.236790269613266, 3.2788891792297363, 7.453000068664551], [-0.4782717227935791, 3.3003201484680176, 7.517704963684082], [-0.7197532057762146, 3.330695867538452, 7.582409858703613], [-0.9612346887588501, 3.342855215072632, 7.6471147537231445], [-1.2027161121368408, 3.4202802181243896, 7.711819648742676], [-1.4441975355148315, 3.3348326683044434, 7.776524543762207], [-1.6856789588928223, 3.297537326812744, 7.841229438781738], [-1.9356789588928223, 3.3673014640808105, 7.841229438781738], [-2.1856789588928223, 3.384536027908325, 7.841229438781738], [-2.4356789588928223, 3.3787858486175537, 7.841229438781738], [-2.6856789588928223, 3.3564672470092773, 7.841229438781738], [-2.9356789588928223, 3.3233258724212646, 7.841229438781738], [-3.1856789588928223, 3.2895150184631348, 7.841229438781738], [-3.4356789588928223, 3.255704402923584, 7.841229438781738], [-3.6856789588928223, 3.238274097442627, 7.841229438781738], [-3.9356789588928223, 3.238274097442627, 7.841229438781738], [-4.185678958892822, 3.238274097442627, 7.841229438781738], [-4.435678958892822, 3.238274097442627, 7.841229438781738], [-4.685678958892822, 3.238274097442627, 7.841229438781738], [-4.935678958892822, 3.238274097442627, 7.841229438781738], [-5.185678958892822, 3.238274097442627, 7.841229438781738], [-5.435678958892822, 3.238274097442627, 7.841229438781738], [-5.685678958892822, 3.238274097442627, 7.841229438781738], [-5.935678958892822, 3.238274097442627, 7.841229438781738], [-6.177160263061523, 3.238274097442627, 7.776524543762207], [-6.418641567230225, 3.238274097442627, 7.711819648742676], [-6.660122871398926, 3.238274097442627, 7.6471147537231445], [-6.901604175567627, 3.238274097442627, 7.582409858703613], [-7.143085479736328, 3.238274097442627, 7.517704963684082], [-7.384566783905029, 3.238274097442627, 7.453000068664551], [-7.6260480880737305, 3.238274097442627, 7.3882951736450195], [-7.867529392242432, 3.238274097442627, 7.323590278625488], [-8.109010696411133, 3.238274097442627, 7.258885383605957], [-8.285787582397461, 3.398801803588867, 7.082108497619629], [-8.410787582397461, 3.238274097442627, 6.865602016448975], [-8.535787582397461, 3.238274097442627, 6.64909553527832], [-8.660787582397461, 3.238274097442627, 6.432589054107666], [-8.785787582397461, 3.238274097442627, 6.216082572937012], [-8.910787582397461, 3.238274097442627, 5.999576091766357]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 399, "episode_id": "400", "scene_id": "VLzqgDo317F", "instruction": "Follow the stanchions and the red carpet straight through the doors into a narrow hall that bring you to another large room.  Step onto the cream and rose rug and wait. ", "start_position": [3.1498000621795654, 3.134824275970459, 10.89780044555664], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-9.112950325012207, 3.238274097442627, 5.714600086212158], "goal_radius": 3.0, "reference_path": "[[3.1498000621795654, 3.134824275970459, 10.89780044555664], [2.6191999912261963, 3.038273811340332, 9.261509895324707], [-0.08698820322751999, 3.285475730895996, 7.32834005355835], [-2.791450023651123, 3.342393159866333, 7.935279846191406], [-4.700560092926025, 3.238274097442627, 7.852089881896973], [-6.338290214538574, 3.238274097442627, 7.803170204162598], [-9.112950325012207, 3.238274097442627, 5.714600086212158]]", "geodesic_distance": 14.73266887664795, "gt_locations": "[[3.1498000621795654, 3.134824275970459, 10.89780044555664], [3.0850954055786133, 3.094568967819214, 10.656318664550781], [3.020390748977661, 3.082951068878174, 10.414836883544922], [2.955686092376709, 3.038273811340332, 10.173355102539062], [2.890981435775757, 3.038273811340332, 9.931873321533203], [2.8262767791748047, 3.038273811340332, 9.690391540527344], [2.7012767791748047, 3.038273811340332, 9.473885536193848], [2.5762767791748047, 3.038273811340332, 9.257379531860352], [2.4512767791748047, 3.038273811340332, 9.040873527526855], [2.3262767791748047, 3.038273811340332, 8.82436752319336], [2.2012767791748047, 3.038273811340332, 8.607861518859863], [1.9555307626724243, 3.038273811340332, 8.504776954650879], [1.7390244007110596, 3.038273811340332, 8.379776954650879], [1.5225180387496948, 3.038273811340332, 8.254776954650879], [1.30601167678833, 3.038273811340332, 8.129776954650879], [1.0895053148269653, 3.0603795051574707, 8.004776954650879], [0.8729990124702454, 3.038273811340332, 7.879776954650879], [0.6564927101135254, 3.038273811340332, 7.754776954650879], [0.4399864077568054, 3.2908403873443604, 7.629776954650879], [0.263209730386734, 3.1074368953704834, 7.453000068664551], [0.013209730386734009, 3.2095906734466553, 7.453000068664551], [-0.236790269613266, 3.2788891792297363, 7.453000068664551], [-0.4782717227935791, 3.3003201484680176, 7.517704963684082], [-0.7197532057762146, 3.330695867538452, 7.582409858703613], [-0.9612346887588501, 3.342855215072632, 7.6471147537231445], [-1.2027161121368408, 3.4202802181243896, 7.711819648742676], [-1.4441975355148315, 3.3348326683044434, 7.776524543762207], [-1.6856789588928223, 3.297537326812744, 7.841229438781738], [-1.9356789588928223, 3.3673014640808105, 7.841229438781738], [-2.1856789588928223, 3.384536027908325, 7.841229438781738], [-2.4356789588928223, 3.3787858486175537, 7.841229438781738], [-2.6856789588928223, 3.3564672470092773, 7.841229438781738], [-2.9356789588928223, 3.3233258724212646, 7.841229438781738], [-3.1856789588928223, 3.2895150184631348, 7.841229438781738], [-3.4356789588928223, 3.255704402923584, 7.841229438781738], [-3.6856789588928223, 3.238274097442627, 7.841229438781738], [-3.9356789588928223, 3.238274097442627, 7.841229438781738], [-4.185678958892822, 3.238274097442627, 7.841229438781738], [-4.435678958892822, 3.238274097442627, 7.841229438781738], [-4.685678958892822, 3.238274097442627, 7.841229438781738], [-4.935678958892822, 3.238274097442627, 7.841229438781738], [-5.185678958892822, 3.238274097442627, 7.841229438781738], [-5.435678958892822, 3.238274097442627, 7.841229438781738], [-5.685678958892822, 3.238274097442627, 7.841229438781738], [-5.935678958892822, 3.238274097442627, 7.841229438781738], [-6.177160263061523, 3.238274097442627, 7.776524543762207], [-6.418641567230225, 3.238274097442627, 7.711819648742676], [-6.660122871398926, 3.238274097442627, 7.6471147537231445], [-6.901604175567627, 3.238274097442627, 7.582409858703613], [-7.143085479736328, 3.238274097442627, 7.517704963684082], [-7.384566783905029, 3.238274097442627, 7.453000068664551], [-7.6260480880737305, 3.238274097442627, 7.3882951736450195], [-7.867529392242432, 3.238274097442627, 7.323590278625488], [-8.109010696411133, 3.238274097442627, 7.258885383605957], [-8.285787582397461, 3.398801803588867, 7.082108497619629], [-8.410787582397461, 3.238274097442627, 6.865602016448975], [-8.535787582397461, 3.238274097442627, 6.64909553527832], [-8.660787582397461, 3.238274097442627, 6.432589054107666], [-8.785787582397461, 3.238274097442627, 6.216082572937012], [-8.910787582397461, 3.238274097442627, 5.999576091766357]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 400, "episode_id": "401", "scene_id": "sKLMLpTHeUy", "instruction": "Exit the room and turn right into the bedroom.  Walk through the room, past the painting of the girl, and go outside.  Stop near the chairs on the deck. ", "start_position": [16.461999893188477, 0.1496591567993164, -1.9354000091552734], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [20.84280014038086, -0.050340890884399414, -0.4704889953136444], "goal_radius": 3.0, "reference_path": "[[16.461999893188477, 0.1496591567993164, -1.9354000091552734], [17.15019989013672, 0.1496591567993164, -2.6783900260925293], [18.044200897216797, 0.1496591567993164, -2.6039600372314453], [19.644399642944336, 0.1496591567993164, -1.939620018005371], [20.67140007019043, 0.1496591567993164, -1.2786500453948975], [20.84280014038086, -0.050340890884399414, -0.4704889953136444]]", "geodesic_distance": 5.383344650268555, "gt_locations": "[[16.461999893188477, 0.1496591567993164, -1.9354000091552734], [16.638776779174805, 0.1496591567993164, -2.1121766567230225], [16.815553665161133, 0.1496591567993164, -2.2889533042907715], [16.99233055114746, 0.1496591567993164, -2.4657299518585205], [17.23381233215332, 0.1496591567993164, -2.5304346084594727], [17.47529411315918, 0.1496591567993164, -2.595139265060425], [17.72529411315918, 0.1496591567993164, -2.595139265060425], [17.96677589416504, 0.1496591567993164, -2.5304343700408936], [18.2082576751709, 0.1496591567993164, -2.4657294750213623], [18.449739456176758, 0.1496591567993164, -2.401024580001831], [18.691221237182617, 0.1496591567993164, -2.3363196849823], [18.932703018188477, 0.17901234328746796, -2.2716147899627686], [19.14920997619629, 0.21231095492839813, -2.1466147899627686], [19.3657169342041, 0.1496591567993164, -2.0216147899627686], [19.582223892211914, 0.1496591567993164, -1.8966147899627686], [19.798730850219727, 0.1496591567993164, -1.7716147899627686], [20.01523780822754, 0.1496591567993164, -1.6466147899627686], [20.2567195892334, 0.14728111028671265, -1.5819100141525269], [20.47322654724121, 0.1496591567993164, -1.4569100141525269], [20.59822654724121, 0.1496591567993164, -1.2404035329818726], [20.662931442260742, 0.1496591567993164, -0.9989220499992371], [20.727636337280273, 0.07907958328723907, -0.7574405670166016]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 3, 1, 3, 1, 1, 0]"}
{"id": 401, "episode_id": "402", "scene_id": "sKLMLpTHeUy", "instruction": "Exit the bedroom and enter the bedroom on the right, go through the bedroom and go right into the glass doorway, take a step outside and then stop. ", "start_position": [16.461999893188477, 0.1496591567993164, -1.9354000091552734], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [20.84280014038086, -0.050340890884399414, -0.4704889953136444], "goal_radius": 3.0, "reference_path": "[[16.461999893188477, 0.1496591567993164, -1.9354000091552734], [17.15019989013672, 0.1496591567993164, -2.6783900260925293], [18.044200897216797, 0.1496591567993164, -2.6039600372314453], [19.644399642944336, 0.1496591567993164, -1.939620018005371], [20.67140007019043, 0.1496591567993164, -1.2786500453948975], [20.84280014038086, -0.050340890884399414, -0.4704889953136444]]", "geodesic_distance": 5.383344650268555, "gt_locations": "[[16.461999893188477, 0.1496591567993164, -1.9354000091552734], [16.638776779174805, 0.1496591567993164, -2.1121766567230225], [16.815553665161133, 0.1496591567993164, -2.2889533042907715], [16.99233055114746, 0.1496591567993164, -2.4657299518585205], [17.23381233215332, 0.1496591567993164, -2.5304346084594727], [17.47529411315918, 0.1496591567993164, -2.595139265060425], [17.72529411315918, 0.1496591567993164, -2.595139265060425], [17.96677589416504, 0.1496591567993164, -2.5304343700408936], [18.2082576751709, 0.1496591567993164, -2.4657294750213623], [18.449739456176758, 0.1496591567993164, -2.401024580001831], [18.691221237182617, 0.1496591567993164, -2.3363196849823], [18.932703018188477, 0.17901234328746796, -2.2716147899627686], [19.14920997619629, 0.21231095492839813, -2.1466147899627686], [19.3657169342041, 0.1496591567993164, -2.0216147899627686], [19.582223892211914, 0.1496591567993164, -1.8966147899627686], [19.798730850219727, 0.1496591567993164, -1.7716147899627686], [20.01523780822754, 0.1496591567993164, -1.6466147899627686], [20.2567195892334, 0.14728111028671265, -1.5819100141525269], [20.47322654724121, 0.1496591567993164, -1.4569100141525269], [20.59822654724121, 0.1496591567993164, -1.2404035329818726], [20.662931442260742, 0.1496591567993164, -0.9989220499992371], [20.727636337280273, 0.07907958328723907, -0.7574405670166016]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 3, 1, 3, 1, 1, 0]"}
{"id": 402, "episode_id": "403", "scene_id": "sKLMLpTHeUy", "instruction": "Leave this bedroom, and enter the one on the right. Walk out onto the balcony Stop Once you are outside. ", "start_position": [16.461999893188477, 0.1496591567993164, -1.9354000091552734], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [20.84280014038086, -0.050340890884399414, -0.4704889953136444], "goal_radius": 3.0, "reference_path": "[[16.461999893188477, 0.1496591567993164, -1.9354000091552734], [17.15019989013672, 0.1496591567993164, -2.6783900260925293], [18.044200897216797, 0.1496591567993164, -2.6039600372314453], [19.644399642944336, 0.1496591567993164, -1.939620018005371], [20.67140007019043, 0.1496591567993164, -1.2786500453948975], [20.84280014038086, -0.050340890884399414, -0.4704889953136444]]", "geodesic_distance": 5.383344650268555, "gt_locations": "[[16.461999893188477, 0.1496591567993164, -1.9354000091552734], [16.638776779174805, 0.1496591567993164, -2.1121766567230225], [16.815553665161133, 0.1496591567993164, -2.2889533042907715], [16.99233055114746, 0.1496591567993164, -2.4657299518585205], [17.23381233215332, 0.1496591567993164, -2.5304346084594727], [17.47529411315918, 0.1496591567993164, -2.595139265060425], [17.72529411315918, 0.1496591567993164, -2.595139265060425], [17.96677589416504, 0.1496591567993164, -2.5304343700408936], [18.2082576751709, 0.1496591567993164, -2.4657294750213623], [18.449739456176758, 0.1496591567993164, -2.401024580001831], [18.691221237182617, 0.1496591567993164, -2.3363196849823], [18.932703018188477, 0.17901234328746796, -2.2716147899627686], [19.14920997619629, 0.21231095492839813, -2.1466147899627686], [19.3657169342041, 0.1496591567993164, -2.0216147899627686], [19.582223892211914, 0.1496591567993164, -1.8966147899627686], [19.798730850219727, 0.1496591567993164, -1.7716147899627686], [20.01523780822754, 0.1496591567993164, -1.6466147899627686], [20.2567195892334, 0.14728111028671265, -1.5819100141525269], [20.47322654724121, 0.1496591567993164, -1.4569100141525269], [20.59822654724121, 0.1496591567993164, -1.2404035329818726], [20.662931442260742, 0.1496591567993164, -0.9989220499992371], [20.727636337280273, 0.07907958328723907, -0.7574405670166016]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 3, 1, 3, 1, 1, 0]"}
{"id": 403, "episode_id": "404", "scene_id": "ur6pFq6Qu1A", "instruction": "Walk past the desk toward the reclining chairs and turn left after passing the hollow squared wall. Walk down the hall and into the second door from the right. Stop just inside the door. 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{"id": 404, "episode_id": "405", "scene_id": "ur6pFq6Qu1A", "instruction": "Walk forward past the framed glass dividing wall on the left. Turn left past the dividing wall and walk past the wicker hamper on the right. Continue down the hallway and turn into the massage room on the right. Wait near the massage tables. 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{"id": 405, "episode_id": "406", "scene_id": "ur6pFq6Qu1A", "instruction": "Turn right and then turn left after the partition. Turn right into the massage room and wait there next to the phone. 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{"id": 406, "episode_id": "407", "scene_id": "ZMojNkEp431", "instruction": "Turn right at the white bookshelf. Wait next to the desk that is next to a set of stairs. ", "start_position": [10.552399635314941, 0.09357202053070068, -6.033750057220459], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [1.210479974746704, 0.09357202053070068, -2.391160011291504], "goal_radius": 3.0, "reference_path": "[[10.552399635314941, 0.09357202053070068, -6.033750057220459], [11.16919994354248, 0.09357202053070068, -3.2264599800109863], [8.224519729614258, 0.09357202053070068, -2.7607998847961426], [4.449345111846924, 0.09357202053070068, -2.679152727127075], [1.210479974746704, 0.09357202053070068, -2.391160011291504]]", "geodesic_distance": 11.453963279724121, "gt_locations": "[[10.552399635314941, 0.09357202053070068, -6.033750057220459], [10.617104530334473, 0.09357202053070068, -5.792268753051758], [10.681809425354004, 0.09357202053070068, -5.550787448883057], [10.746514320373535, 0.09357202053070068, -5.3093061447143555], [10.811219215393066, 0.09357202053070068, -5.067824840545654], [10.811219215393066, 0.09933602809906006, -4.817824840545654], [10.811219215393066, 0.09357202053070068, -4.567824840545654], [10.811219215393066, 0.09357202053070068, -4.317824840545654], [10.811219215393066, 0.09357202053070068, -4.067824840545654], [10.875924110412598, 0.09357202053070068, -3.826343297958374], [11.000924110412598, 0.09357202053070068, -3.6098368167877197], [10.759442329406738, 0.09357202053070068, -3.5451319217681885], [10.517960548400879, 0.09357202053070068, -3.4804270267486572], [10.27647876739502, 0.09357202053070068, -3.415722131729126], [10.03499698638916, 0.09357202053070068, -3.3510172367095947], [9.818490982055664, 0.09357202053070068, -3.2260172367095947], [9.601984977722168, 0.09357202053070068, -3.1010172367095947], [9.360503196716309, 0.09357202053070068, -3.0363123416900635], [9.11902141571045, 0.09357202053070068, -2.9716074466705322], [8.87753963470459, 0.09357202053070068, -2.906902551651001], [8.63605785369873, 0.09357202053070068, -2.8421976566314697], [8.38605785369873, 0.09357202053070068, -2.8421976566314697], [8.13605785369873, 0.09357202053070068, -2.8421976566314697], [7.8860578536987305, 0.09357202053070068, -2.8421976566314697], [7.6360578536987305, 0.09357202053070068, -2.8421976566314697], [7.3860578536987305, 0.09357202053070068, -2.8421976566314697], [7.1360578536987305, 0.09357202053070068, -2.8421976566314697], [6.8860578536987305, 0.09357202053070068, -2.8421976566314697], [6.6360578536987305, 0.09357202053070068, -2.8421976566314697], [6.3860578536987305, 0.09357202053070068, -2.8421976566314697], [6.144576549530029, 0.09357202053070068, -2.906902313232422], [5.894576549530029, 0.09357202053070068, -2.906902313232422], [5.644576549530029, 0.09357202053070068, -2.906902313232422], [5.394576549530029, 0.09357202053070068, -2.906902313232422], [5.144576549530029, 0.09357202053070068, -2.906902313232422], [4.903095245361328, 0.09357202053070068, -2.8421974182128906], [4.653095245361328, 0.09357202053070068, -2.8421974182128906], [4.403095245361328, 0.09357202053070068, -2.8421974182128906], [4.153095245361328, 0.09357202053070068, -2.8421974182128906], [3.911613702774048, 0.09357202053070068, -2.7774925231933594], [3.6701321601867676, 0.09357202053070068, -2.712787628173828], [3.4201321601867676, 0.09357202053070068, -2.712787628173828], [3.1701321601867676, 0.09357202053070068, -2.712787628173828], [2.9286506175994873, 0.09357202053070068, -2.648082733154297], [2.687169075012207, 0.09357202053070068, -2.5833778381347656], [2.4706625938415527, 0.09357202053070068, -2.4583778381347656], [2.2206625938415527, 0.09357202053070068, -2.4583778381347656], [1.9706625938415527, 0.09357202053070068, -2.4583778381347656], [1.7206625938415527, 0.09357202053070068, -2.4583778381347656], [1.4706625938415527, 0.09357202053070068, -2.4583778381347656]]", "gt_actions": "[2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 407, "episode_id": "408", "scene_id": "ZMojNkEp431", "instruction": "Go into the dining area and walk past the small white bookshelves and keep going until you see some bookshelves under the stairs with a blue background. ", "start_position": [10.552399635314941, 0.09357202053070068, -6.033750057220459], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [1.210479974746704, 0.09357202053070068, -2.391160011291504], "goal_radius": 3.0, "reference_path": "[[10.552399635314941, 0.09357202053070068, -6.033750057220459], [11.16919994354248, 0.09357202053070068, -3.2264599800109863], [8.224519729614258, 0.09357202053070068, -2.7607998847961426], [4.449345111846924, 0.09357202053070068, -2.679152727127075], [1.210479974746704, 0.09357202053070068, -2.391160011291504]]", "geodesic_distance": 11.453963279724121, "gt_locations": "[[10.552399635314941, 0.09357202053070068, -6.033750057220459], [10.617104530334473, 0.09357202053070068, -5.792268753051758], [10.681809425354004, 0.09357202053070068, -5.550787448883057], [10.746514320373535, 0.09357202053070068, -5.3093061447143555], [10.811219215393066, 0.09357202053070068, -5.067824840545654], [10.811219215393066, 0.09933602809906006, -4.817824840545654], [10.811219215393066, 0.09357202053070068, -4.567824840545654], [10.811219215393066, 0.09357202053070068, -4.317824840545654], [10.811219215393066, 0.09357202053070068, -4.067824840545654], [10.875924110412598, 0.09357202053070068, -3.826343297958374], [11.000924110412598, 0.09357202053070068, -3.6098368167877197], [10.759442329406738, 0.09357202053070068, -3.5451319217681885], [10.517960548400879, 0.09357202053070068, -3.4804270267486572], [10.27647876739502, 0.09357202053070068, -3.415722131729126], [10.03499698638916, 0.09357202053070068, -3.3510172367095947], [9.818490982055664, 0.09357202053070068, -3.2260172367095947], [9.601984977722168, 0.09357202053070068, -3.1010172367095947], [9.360503196716309, 0.09357202053070068, -3.0363123416900635], [9.11902141571045, 0.09357202053070068, -2.9716074466705322], [8.87753963470459, 0.09357202053070068, -2.906902551651001], [8.63605785369873, 0.09357202053070068, -2.8421976566314697], [8.38605785369873, 0.09357202053070068, -2.8421976566314697], [8.13605785369873, 0.09357202053070068, -2.8421976566314697], [7.8860578536987305, 0.09357202053070068, -2.8421976566314697], [7.6360578536987305, 0.09357202053070068, -2.8421976566314697], [7.3860578536987305, 0.09357202053070068, -2.8421976566314697], [7.1360578536987305, 0.09357202053070068, -2.8421976566314697], [6.8860578536987305, 0.09357202053070068, -2.8421976566314697], [6.6360578536987305, 0.09357202053070068, -2.8421976566314697], [6.3860578536987305, 0.09357202053070068, -2.8421976566314697], [6.144576549530029, 0.09357202053070068, -2.906902313232422], [5.894576549530029, 0.09357202053070068, -2.906902313232422], [5.644576549530029, 0.09357202053070068, -2.906902313232422], [5.394576549530029, 0.09357202053070068, -2.906902313232422], [5.144576549530029, 0.09357202053070068, -2.906902313232422], [4.903095245361328, 0.09357202053070068, -2.8421974182128906], [4.653095245361328, 0.09357202053070068, -2.8421974182128906], [4.403095245361328, 0.09357202053070068, -2.8421974182128906], [4.153095245361328, 0.09357202053070068, -2.8421974182128906], [3.911613702774048, 0.09357202053070068, -2.7774925231933594], [3.6701321601867676, 0.09357202053070068, -2.712787628173828], [3.4201321601867676, 0.09357202053070068, -2.712787628173828], [3.1701321601867676, 0.09357202053070068, -2.712787628173828], [2.9286506175994873, 0.09357202053070068, -2.648082733154297], [2.687169075012207, 0.09357202053070068, -2.5833778381347656], [2.4706625938415527, 0.09357202053070068, -2.4583778381347656], [2.2206625938415527, 0.09357202053070068, -2.4583778381347656], [1.9706625938415527, 0.09357202053070068, -2.4583778381347656], [1.7206625938415527, 0.09357202053070068, -2.4583778381347656], [1.4706625938415527, 0.09357202053070068, -2.4583778381347656]]", "gt_actions": "[2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 408, "episode_id": "409", "scene_id": "ZMojNkEp431", "instruction": "Walk straight into the large room in front of you. Once in turn right and walk to the other end of the very long and narrow wood table. Once you reach the end, stop facing the work area. ", "start_position": [10.552399635314941, 0.09357202053070068, -6.033750057220459], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [1.210479974746704, 0.09357202053070068, -2.391160011291504], "goal_radius": 3.0, "reference_path": "[[10.552399635314941, 0.09357202053070068, -6.033750057220459], [11.16919994354248, 0.09357202053070068, -3.2264599800109863], [8.224519729614258, 0.09357202053070068, -2.7607998847961426], [4.449345111846924, 0.09357202053070068, -2.679152727127075], [1.210479974746704, 0.09357202053070068, -2.391160011291504]]", "geodesic_distance": 11.453963279724121, "gt_locations": "[[10.552399635314941, 0.09357202053070068, -6.033750057220459], [10.617104530334473, 0.09357202053070068, -5.792268753051758], [10.681809425354004, 0.09357202053070068, -5.550787448883057], [10.746514320373535, 0.09357202053070068, -5.3093061447143555], [10.811219215393066, 0.09357202053070068, -5.067824840545654], [10.811219215393066, 0.09933602809906006, -4.817824840545654], [10.811219215393066, 0.09357202053070068, -4.567824840545654], [10.811219215393066, 0.09357202053070068, -4.317824840545654], [10.811219215393066, 0.09357202053070068, -4.067824840545654], [10.875924110412598, 0.09357202053070068, -3.826343297958374], [11.000924110412598, 0.09357202053070068, -3.6098368167877197], [10.759442329406738, 0.09357202053070068, -3.5451319217681885], [10.517960548400879, 0.09357202053070068, -3.4804270267486572], [10.27647876739502, 0.09357202053070068, -3.415722131729126], [10.03499698638916, 0.09357202053070068, -3.3510172367095947], [9.818490982055664, 0.09357202053070068, -3.2260172367095947], [9.601984977722168, 0.09357202053070068, -3.1010172367095947], [9.360503196716309, 0.09357202053070068, -3.0363123416900635], [9.11902141571045, 0.09357202053070068, -2.9716074466705322], [8.87753963470459, 0.09357202053070068, -2.906902551651001], [8.63605785369873, 0.09357202053070068, -2.8421976566314697], [8.38605785369873, 0.09357202053070068, -2.8421976566314697], [8.13605785369873, 0.09357202053070068, -2.8421976566314697], [7.8860578536987305, 0.09357202053070068, -2.8421976566314697], [7.6360578536987305, 0.09357202053070068, -2.8421976566314697], [7.3860578536987305, 0.09357202053070068, -2.8421976566314697], [7.1360578536987305, 0.09357202053070068, -2.8421976566314697], [6.8860578536987305, 0.09357202053070068, -2.8421976566314697], [6.6360578536987305, 0.09357202053070068, -2.8421976566314697], [6.3860578536987305, 0.09357202053070068, -2.8421976566314697], [6.144576549530029, 0.09357202053070068, -2.906902313232422], [5.894576549530029, 0.09357202053070068, -2.906902313232422], [5.644576549530029, 0.09357202053070068, -2.906902313232422], [5.394576549530029, 0.09357202053070068, -2.906902313232422], [5.144576549530029, 0.09357202053070068, -2.906902313232422], [4.903095245361328, 0.09357202053070068, -2.8421974182128906], [4.653095245361328, 0.09357202053070068, -2.8421974182128906], [4.403095245361328, 0.09357202053070068, -2.8421974182128906], [4.153095245361328, 0.09357202053070068, -2.8421974182128906], [3.911613702774048, 0.09357202053070068, -2.7774925231933594], [3.6701321601867676, 0.09357202053070068, -2.712787628173828], [3.4201321601867676, 0.09357202053070068, -2.712787628173828], [3.1701321601867676, 0.09357202053070068, -2.712787628173828], [2.9286506175994873, 0.09357202053070068, -2.648082733154297], [2.687169075012207, 0.09357202053070068, -2.5833778381347656], [2.4706625938415527, 0.09357202053070068, -2.4583778381347656], [2.2206625938415527, 0.09357202053070068, -2.4583778381347656], [1.9706625938415527, 0.09357202053070068, -2.4583778381347656], [1.7206625938415527, 0.09357202053070068, -2.4583778381347656], [1.4706625938415527, 0.09357202053070068, -2.4583778381347656]]", "gt_actions": "[2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 1, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 409, "episode_id": "410", "scene_id": "82sE5b5pLXE", "instruction": "Leave the room and head towards the piano. Enter the office area behind the piano. ", "start_position": [-15.550600051879883, 0.33779406547546387, -8.812450408935547], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-11.340499877929688, 0.13779401779174805, -12.553400039672852], "goal_radius": 3.0, "reference_path": "[[-15.550600051879883, 0.33779406547546387, -8.812450408935547], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-13.652899742126465, 0.33779406547546387, -11.793000221252441], [-13.571900367736816, 0.170436829328537, -13.394000053405762], [-11.689200401306152, 0.13779401779174805, -13.636899948120117], [-11.340499877929688, 0.13779401779174805, -12.553400039672852]]", "geodesic_distance": 7.42897891998291, "gt_locations": "[[-15.550600051879883, 0.33779406547546387, -8.812450408935547], [-15.334094047546387, 0.33779406547546387, -8.937450408935547], [-15.11758804321289, 0.33779406547546387, -9.062450408935547], [-14.901082038879395, 0.33779406547546387, -9.187450408935547], [-14.724305152893066, 0.33779406547546387, -9.364227294921875], [-14.53065299987793, 0.33779406547546387, -9.53256607055664], [-14.353876113891602, 0.33779406547546387, -9.709342956542969], [-14.228876113891602, 0.33779406547546387, -9.925848960876465], [-14.16417121887207, 0.33779406547546387, -10.167330741882324], [-14.099466323852539, 0.33779406547546387, -10.408812522888184], [-14.034761428833008, 0.33779406547546387, -10.650294303894043], [-13.970056533813477, 0.33779406547546387, -10.891776084899902], [-13.905351638793945, 0.33779406547546387, -11.133257865905762], [-13.840646743774414, 0.33779406547546387, -11.374739646911621], [-13.775941848754883, 0.33779406547546387, -11.61622142791748], [-13.711236953735352, 0.33779406547546387, -11.85770320892334], [-13.64653205871582, 0.33779406547546387, -12.0991849899292], [-13.64653205871582, 0.33779406547546387, -12.3491849899292], [-13.64653205871582, 0.23456621170043945, -12.5991849899292], [-13.64653205871582, 0.18403391540050507, -12.8491849899292], [-13.64653205871582, 0.18276484310626984, -13.0991849899292], [-13.430026054382324, 0.16454607248306274, -13.2241849899292], [-13.188544273376465, 0.1446048766374588, -13.28888988494873], [-12.947062492370605, 0.13779401779174805, -13.353594779968262], [-12.705580711364746, 0.13779401779174805, -13.418299674987793], [-12.464098930358887, 0.13779401779174805, -13.483004570007324], [-12.222617149353027, 0.13779401779174805, -13.547709465026855], [-11.981135368347168, 0.13779401779174805, -13.612414360046387], [-11.856135368347168, 0.13779401779174805, -13.39590835571289], [-11.731135368347168, 0.13779401779174805, -13.179402351379395], [-11.606135368347168, 0.13779401779174805, -12.962896347045898]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 410, "episode_id": "411", "scene_id": "82sE5b5pLXE", "instruction": "Walk out of the room and take a left. Walk past the piano and wait next to the bookshelf. ", "start_position": [-15.550600051879883, 0.33779406547546387, -8.812450408935547], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-11.340499877929688, 0.13779401779174805, -12.553400039672852], "goal_radius": 3.0, "reference_path": "[[-15.550600051879883, 0.33779406547546387, -8.812450408935547], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-13.652899742126465, 0.33779406547546387, -11.793000221252441], [-13.571900367736816, 0.170436829328537, -13.394000053405762], [-11.689200401306152, 0.13779401779174805, -13.636899948120117], [-11.340499877929688, 0.13779401779174805, -12.553400039672852]]", "geodesic_distance": 7.42897891998291, "gt_locations": "[[-15.550600051879883, 0.33779406547546387, -8.812450408935547], [-15.334094047546387, 0.33779406547546387, -8.937450408935547], [-15.11758804321289, 0.33779406547546387, -9.062450408935547], [-14.901082038879395, 0.33779406547546387, -9.187450408935547], [-14.724305152893066, 0.33779406547546387, -9.364227294921875], [-14.53065299987793, 0.33779406547546387, -9.53256607055664], [-14.353876113891602, 0.33779406547546387, -9.709342956542969], [-14.228876113891602, 0.33779406547546387, -9.925848960876465], [-14.16417121887207, 0.33779406547546387, -10.167330741882324], [-14.099466323852539, 0.33779406547546387, -10.408812522888184], [-14.034761428833008, 0.33779406547546387, -10.650294303894043], [-13.970056533813477, 0.33779406547546387, -10.891776084899902], [-13.905351638793945, 0.33779406547546387, -11.133257865905762], [-13.840646743774414, 0.33779406547546387, -11.374739646911621], [-13.775941848754883, 0.33779406547546387, -11.61622142791748], [-13.711236953735352, 0.33779406547546387, -11.85770320892334], [-13.64653205871582, 0.33779406547546387, -12.0991849899292], [-13.64653205871582, 0.33779406547546387, -12.3491849899292], [-13.64653205871582, 0.23456621170043945, -12.5991849899292], [-13.64653205871582, 0.18403391540050507, -12.8491849899292], [-13.64653205871582, 0.18276484310626984, -13.0991849899292], [-13.430026054382324, 0.16454607248306274, -13.2241849899292], [-13.188544273376465, 0.1446048766374588, -13.28888988494873], [-12.947062492370605, 0.13779401779174805, -13.353594779968262], [-12.705580711364746, 0.13779401779174805, -13.418299674987793], [-12.464098930358887, 0.13779401779174805, -13.483004570007324], [-12.222617149353027, 0.13779401779174805, -13.547709465026855], [-11.981135368347168, 0.13779401779174805, -13.612414360046387], [-11.856135368347168, 0.13779401779174805, -13.39590835571289], [-11.731135368347168, 0.13779401779174805, -13.179402351379395], [-11.606135368347168, 0.13779401779174805, -12.962896347045898]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 411, "episode_id": "412", "scene_id": "82sE5b5pLXE", "instruction": "Exit room, go along the wall toward the piano, turn right before the piano, turn right into the bookshelf room and stop. ", "start_position": [-15.550600051879883, 0.33779406547546387, -8.812450408935547], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-11.340499877929688, 0.13779401779174805, -12.553400039672852], "goal_radius": 3.0, "reference_path": "[[-15.550600051879883, 0.33779406547546387, -8.812450408935547], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-13.652899742126465, 0.33779406547546387, -11.793000221252441], [-13.571900367736816, 0.170436829328537, -13.394000053405762], [-11.689200401306152, 0.13779401779174805, -13.636899948120117], [-11.340499877929688, 0.13779401779174805, -12.553400039672852]]", "geodesic_distance": 7.42897891998291, "gt_locations": "[[-15.550600051879883, 0.33779406547546387, -8.812450408935547], [-15.334094047546387, 0.33779406547546387, -8.937450408935547], [-15.11758804321289, 0.33779406547546387, -9.062450408935547], [-14.901082038879395, 0.33779406547546387, -9.187450408935547], [-14.724305152893066, 0.33779406547546387, -9.364227294921875], [-14.53065299987793, 0.33779406547546387, -9.53256607055664], [-14.353876113891602, 0.33779406547546387, -9.709342956542969], [-14.228876113891602, 0.33779406547546387, -9.925848960876465], [-14.16417121887207, 0.33779406547546387, -10.167330741882324], [-14.099466323852539, 0.33779406547546387, -10.408812522888184], [-14.034761428833008, 0.33779406547546387, -10.650294303894043], [-13.970056533813477, 0.33779406547546387, -10.891776084899902], [-13.905351638793945, 0.33779406547546387, -11.133257865905762], [-13.840646743774414, 0.33779406547546387, -11.374739646911621], [-13.775941848754883, 0.33779406547546387, -11.61622142791748], [-13.711236953735352, 0.33779406547546387, -11.85770320892334], [-13.64653205871582, 0.33779406547546387, -12.0991849899292], [-13.64653205871582, 0.33779406547546387, -12.3491849899292], [-13.64653205871582, 0.23456621170043945, -12.5991849899292], [-13.64653205871582, 0.18403391540050507, -12.8491849899292], [-13.64653205871582, 0.18276484310626984, -13.0991849899292], [-13.430026054382324, 0.16454607248306274, -13.2241849899292], [-13.188544273376465, 0.1446048766374588, -13.28888988494873], [-12.947062492370605, 0.13779401779174805, -13.353594779968262], [-12.705580711364746, 0.13779401779174805, -13.418299674987793], [-12.464098930358887, 0.13779401779174805, -13.483004570007324], [-12.222617149353027, 0.13779401779174805, -13.547709465026855], [-11.981135368347168, 0.13779401779174805, -13.612414360046387], [-11.856135368347168, 0.13779401779174805, -13.39590835571289], [-11.731135368347168, 0.13779401779174805, -13.179402351379395], [-11.606135368347168, 0.13779401779174805, -12.962896347045898]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 412, "episode_id": "413", "scene_id": "vyrNrziPKCB", "instruction": "Walk towards the pillars and stop just before you get to the opening to the house. ", "start_position": [22.07550048828125, -0.0014309883117675781, 13.114899635314941], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [13.019499778747559, 0.10318456590175629, 14.514599800109863], "goal_radius": 3.0, "reference_path": "[[22.07550048828125, -0.0014309883117675781, 13.114899635314941], [20.027000427246094, -0.0014309883117675781, 12.900199890136719], [18.43239974975586, -0.0014309883117675781, 12.710599899291992], [16.126399993896484, -0.0014309883117675781, 13.949399948120117], [13.019499778747559, 0.10318456590175629, 14.514599800109863]]", "geodesic_distance": 9.4765043258667, "gt_locations": "[[22.07550048828125, -0.0014309883117675781, 13.114899635314941], [21.82550048828125, -0.0014309883117675781, 13.114899635314941], [21.57550048828125, -0.0014309883117675781, 13.114899635314941], [21.32550048828125, -0.0014309883117675781, 13.114899635314941], [21.07550048828125, -0.0014309883117675781, 13.114899635314941], [20.83401870727539, -0.0014309883117675781, 13.05019474029541], [20.59253692626953, -0.0014309883117675781, 12.985489845275879], [20.351055145263672, -0.0014309883117675781, 12.920784950256348], [20.109573364257812, -0.0014309883117675781, 12.856080055236816], [19.859573364257812, -0.0014309883117675781, 12.856080055236816], [19.609573364257812, -0.0014309883117675781, 12.856080055236816], [19.359573364257812, -0.0014309883117675781, 12.856080055236816], [19.109573364257812, -0.0014309883117675781, 12.856080055236816], [18.868091583251953, -0.0014309883117675781, 12.791375160217285], [18.626609802246094, -0.0014309883117675781, 12.856080055236816], [18.385128021240234, -0.0014309883117675781, 12.920784950256348], [18.143646240234375, 0.018432164564728737, 12.985489845275879], [17.902164459228516, -0.0014309883117675781, 13.05019474029541], [17.652164459228516, -0.0014309883117675781, 13.05019474029541], [17.402164459228516, -0.0014309883117675781, 13.05019474029541], [17.160682678222656, -0.0014309883117675781, 13.114899635314941], [16.919200897216797, -0.0014309883117675781, 13.179604530334473], [16.669200897216797, -0.0014309883117675781, 13.179604530334473], [16.42913055419922, -0.0014309883117675781, 13.281041145324707], [16.30413055419922, -0.0014309883117675781, 13.497547149658203], [16.087623596191406, -0.0014309883117675781, 13.372547149658203], [15.87111759185791, -0.0014309883117675781, 13.247547149658203], [15.62111759185791, -0.0014309883117675781, 13.217639923095703], [15.37111759185791, -0.0014309883117675781, 13.217639923095703], [15.12111759185791, -0.0014309883117675781, 13.217639923095703], [14.87111759185791, -0.0014309883117675781, 13.217639923095703], [14.654611587524414, -0.0014309883117675781, 13.342639923095703], [14.438105583190918, 0.012428507208824158, 13.467639923095703], [14.221599578857422, 0.02710689604282379, 13.592639923095703], [14.005093574523926, 0.04178525507450104, 13.717639923095703], [13.78858757019043, 0.05646362900733948, 13.842639923095703], [13.611810684204102, 0.0684485137462616, 14.019416809082031], [13.435033798217773, 0.08043339103460312, 14.19619369506836], [13.258256912231445, 0.09241824597120285, 14.372970581054688]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 2, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 413, "episode_id": "414", "scene_id": "vyrNrziPKCB", "instruction": "Head towards the couch and table set. Go past it and wait in the area in front of the open sliding glass doors without entering the house. ", "start_position": [22.07550048828125, -0.0014309883117675781, 13.114899635314941], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [13.019499778747559, 0.10318456590175629, 14.514599800109863], "goal_radius": 3.0, "reference_path": "[[22.07550048828125, -0.0014309883117675781, 13.114899635314941], [20.027000427246094, -0.0014309883117675781, 12.900199890136719], [18.43239974975586, -0.0014309883117675781, 12.710599899291992], [16.126399993896484, -0.0014309883117675781, 13.949399948120117], [13.019499778747559, 0.10318456590175629, 14.514599800109863]]", "geodesic_distance": 9.4765043258667, "gt_locations": "[[22.07550048828125, -0.0014309883117675781, 13.114899635314941], [21.82550048828125, -0.0014309883117675781, 13.114899635314941], [21.57550048828125, -0.0014309883117675781, 13.114899635314941], [21.32550048828125, -0.0014309883117675781, 13.114899635314941], [21.07550048828125, -0.0014309883117675781, 13.114899635314941], [20.83401870727539, -0.0014309883117675781, 13.05019474029541], [20.59253692626953, -0.0014309883117675781, 12.985489845275879], [20.351055145263672, -0.0014309883117675781, 12.920784950256348], [20.109573364257812, -0.0014309883117675781, 12.856080055236816], [19.859573364257812, -0.0014309883117675781, 12.856080055236816], [19.609573364257812, -0.0014309883117675781, 12.856080055236816], [19.359573364257812, -0.0014309883117675781, 12.856080055236816], [19.109573364257812, -0.0014309883117675781, 12.856080055236816], [18.868091583251953, -0.0014309883117675781, 12.791375160217285], [18.626609802246094, -0.0014309883117675781, 12.856080055236816], [18.385128021240234, -0.0014309883117675781, 12.920784950256348], [18.143646240234375, 0.018432164564728737, 12.985489845275879], [17.902164459228516, -0.0014309883117675781, 13.05019474029541], [17.652164459228516, -0.0014309883117675781, 13.05019474029541], [17.402164459228516, -0.0014309883117675781, 13.05019474029541], [17.160682678222656, -0.0014309883117675781, 13.114899635314941], [16.919200897216797, -0.0014309883117675781, 13.179604530334473], [16.669200897216797, -0.0014309883117675781, 13.179604530334473], [16.42913055419922, -0.0014309883117675781, 13.281041145324707], [16.30413055419922, -0.0014309883117675781, 13.497547149658203], [16.087623596191406, -0.0014309883117675781, 13.372547149658203], [15.87111759185791, -0.0014309883117675781, 13.247547149658203], [15.62111759185791, -0.0014309883117675781, 13.217639923095703], [15.37111759185791, -0.0014309883117675781, 13.217639923095703], [15.12111759185791, -0.0014309883117675781, 13.217639923095703], [14.87111759185791, -0.0014309883117675781, 13.217639923095703], [14.654611587524414, -0.0014309883117675781, 13.342639923095703], [14.438105583190918, 0.012428507208824158, 13.467639923095703], [14.221599578857422, 0.02710689604282379, 13.592639923095703], [14.005093574523926, 0.04178525507450104, 13.717639923095703], [13.78858757019043, 0.05646362900733948, 13.842639923095703], [13.611810684204102, 0.0684485137462616, 14.019416809082031], [13.435033798217773, 0.08043339103460312, 14.19619369506836], [13.258256912231445, 0.09241824597120285, 14.372970581054688]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 2, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 414, "episode_id": "415", "scene_id": "vyrNrziPKCB", "instruction": "Turn to your right and walk along the patio towards the patio furniture.  Walk past the seating area and wait behind the last sofa under the ceiling fan. ", "start_position": [22.07550048828125, -0.0014309883117675781, 13.114899635314941], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [13.019499778747559, 0.10318456590175629, 14.514599800109863], "goal_radius": 3.0, "reference_path": "[[22.07550048828125, -0.0014309883117675781, 13.114899635314941], [20.027000427246094, -0.0014309883117675781, 12.900199890136719], [18.43239974975586, -0.0014309883117675781, 12.710599899291992], [16.126399993896484, -0.0014309883117675781, 13.949399948120117], [13.019499778747559, 0.10318456590175629, 14.514599800109863]]", "geodesic_distance": 9.4765043258667, "gt_locations": "[[22.07550048828125, -0.0014309883117675781, 13.114899635314941], [21.82550048828125, -0.0014309883117675781, 13.114899635314941], [21.57550048828125, -0.0014309883117675781, 13.114899635314941], [21.32550048828125, -0.0014309883117675781, 13.114899635314941], [21.07550048828125, -0.0014309883117675781, 13.114899635314941], [20.83401870727539, -0.0014309883117675781, 13.05019474029541], [20.59253692626953, -0.0014309883117675781, 12.985489845275879], [20.351055145263672, -0.0014309883117675781, 12.920784950256348], [20.109573364257812, -0.0014309883117675781, 12.856080055236816], [19.859573364257812, -0.0014309883117675781, 12.856080055236816], [19.609573364257812, -0.0014309883117675781, 12.856080055236816], [19.359573364257812, -0.0014309883117675781, 12.856080055236816], [19.109573364257812, -0.0014309883117675781, 12.856080055236816], [18.868091583251953, -0.0014309883117675781, 12.791375160217285], [18.626609802246094, -0.0014309883117675781, 12.856080055236816], [18.385128021240234, -0.0014309883117675781, 12.920784950256348], [18.143646240234375, 0.018432164564728737, 12.985489845275879], [17.902164459228516, -0.0014309883117675781, 13.05019474029541], [17.652164459228516, -0.0014309883117675781, 13.05019474029541], [17.402164459228516, -0.0014309883117675781, 13.05019474029541], [17.160682678222656, -0.0014309883117675781, 13.114899635314941], [16.919200897216797, -0.0014309883117675781, 13.179604530334473], [16.669200897216797, -0.0014309883117675781, 13.179604530334473], [16.42913055419922, -0.0014309883117675781, 13.281041145324707], [16.30413055419922, -0.0014309883117675781, 13.497547149658203], [16.087623596191406, -0.0014309883117675781, 13.372547149658203], [15.87111759185791, -0.0014309883117675781, 13.247547149658203], [15.62111759185791, -0.0014309883117675781, 13.217639923095703], [15.37111759185791, -0.0014309883117675781, 13.217639923095703], [15.12111759185791, -0.0014309883117675781, 13.217639923095703], [14.87111759185791, -0.0014309883117675781, 13.217639923095703], [14.654611587524414, -0.0014309883117675781, 13.342639923095703], [14.438105583190918, 0.012428507208824158, 13.467639923095703], [14.221599578857422, 0.02710689604282379, 13.592639923095703], [14.005093574523926, 0.04178525507450104, 13.717639923095703], [13.78858757019043, 0.05646362900733948, 13.842639923095703], [13.611810684204102, 0.0684485137462616, 14.019416809082031], [13.435033798217773, 0.08043339103460312, 14.19619369506836], [13.258256912231445, 0.09241824597120285, 14.372970581054688]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 2, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 415, "episode_id": "416", "scene_id": "5LpN3gDmAk7", "instruction": "Walk forward and towards the left side of the staircase. Enter the door and keep walking until you reach the bedroom. Turn right and enter the door to the right side of the bed. Stop in the doorway. ", "start_position": [1.668280005455017, 3.115649938583374, 2.978209972381592], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.2878098487854, 3.115649938583374, 12.09939956665039], "goal_radius": 3.0, "reference_path": "[[1.668280005455017, 3.115649938583374, 2.978209972381592], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.166319847106934, 3.115649938583374, 9.192919731140137], [6.2878098487854, 3.115649938583374, 12.09939956665039]]", "geodesic_distance": 10.896713256835938, "gt_locations": "[[1.668280005455017, 3.115649938583374, 2.978209972381592], [1.793280005455017, 3.115649938583374, 3.194716453552246], [1.918280005455017, 3.115649938583374, 3.4112229347229004], [2.0432801246643066, 3.115649938583374, 3.6277294158935547], [2.1682801246643066, 3.115649938583374, 3.844235897064209], [2.3450567722320557, 3.115649938583374, 4.021012783050537], [2.5218334197998047, 3.115649938583374, 4.197789669036865], [2.6468334197998047, 3.115649938583374, 4.4142961502075195], [2.7718334197998047, 3.115649938583374, 4.630802631378174], [2.8968334197998047, 3.115649938583374, 4.847309112548828], [3.0218334197998047, 3.115649938583374, 5.063815593719482], [3.1468334197998047, 3.115649938583374, 5.280322074890137], [3.2718334197998047, 3.115649938583374, 5.496828556060791], [3.3968334197998047, 3.115649938583374, 5.713335037231445], [3.5218334197998047, 3.115649938583374, 5.9298415184021], [3.6468334197998047, 3.115649938583374, 6.146347999572754], [3.7718334197998047, 3.115649938583374, 6.362854480743408], [3.8968334197998047, 3.115649938583374, 6.5793609619140625], [3.961538076400757, 3.115649938583374, 6.820842266082764], [4.086538314819336, 3.115649938583374, 7.037348747253418], [4.263315200805664, 3.115649938583374, 7.214125633239746], [4.440092086791992, 3.115649938583374, 7.390902519226074], [4.61686897277832, 3.115649938583374, 7.567679405212402], [4.793645858764648, 3.115649938583374, 7.7444562911987305], [4.918645858764648, 3.115649938583374, 7.960962772369385], [5.043645858764648, 3.115649938583374, 8.177469253540039], [5.21118688583374, 3.115649938583374, 8.366560935974121], [5.452668190002441, 3.115649938583374, 8.506284713745117], [5.669174671173096, 3.115649938583374, 8.631284713745117], [5.845951557159424, 3.115649938583374, 8.808061599731445], [6.087432861328125, 3.115649938583374, 8.872766494750977], [6.328914165496826, 3.115649938583374, 8.937471389770508], [6.570395469665527, 3.115649938583374, 9.002176284790039], [6.8118767738342285, 3.115649938583374, 9.06688117980957], [6.8118767738342285, 3.115649938583374, 9.31688117980957], [6.8118767738342285, 3.115649938583374, 9.56688117980957], [6.8118767738342285, 3.115649938583374, 9.81688117980957], [6.8118767738342285, 3.115649938583374, 10.06688117980957], [6.8118767738342285, 3.115649938583374, 10.31688117980957], [6.747171878814697, 3.115649938583374, 10.55836296081543], [6.682466983795166, 3.115649938583374, 10.799844741821289], [6.682466983795166, 3.115649938583374, 11.049844741821289], [6.625455379486084, 3.115649938583374, 11.300344467163086], [6.500455379486084, 3.115649938583374, 11.516850471496582], [6.435750484466553, 3.115649938583374, 11.758332252502441]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 1, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 0]"}
{"id": 416, "episode_id": "417", "scene_id": "5LpN3gDmAk7", "instruction": "Walk past the stairs and down the hall to the bedroom. Wait in the doorway, next to the bed. ", "start_position": [1.668280005455017, 3.115649938583374, 2.978209972381592], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.2878098487854, 3.115649938583374, 12.09939956665039], "goal_radius": 3.0, "reference_path": "[[1.668280005455017, 3.115649938583374, 2.978209972381592], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.166319847106934, 3.115649938583374, 9.192919731140137], [6.2878098487854, 3.115649938583374, 12.09939956665039]]", "geodesic_distance": 10.896713256835938, "gt_locations": "[[1.668280005455017, 3.115649938583374, 2.978209972381592], [1.793280005455017, 3.115649938583374, 3.194716453552246], [1.918280005455017, 3.115649938583374, 3.4112229347229004], [2.0432801246643066, 3.115649938583374, 3.6277294158935547], [2.1682801246643066, 3.115649938583374, 3.844235897064209], [2.3450567722320557, 3.115649938583374, 4.021012783050537], [2.5218334197998047, 3.115649938583374, 4.197789669036865], [2.6468334197998047, 3.115649938583374, 4.4142961502075195], [2.7718334197998047, 3.115649938583374, 4.630802631378174], [2.8968334197998047, 3.115649938583374, 4.847309112548828], [3.0218334197998047, 3.115649938583374, 5.063815593719482], [3.1468334197998047, 3.115649938583374, 5.280322074890137], [3.2718334197998047, 3.115649938583374, 5.496828556060791], [3.3968334197998047, 3.115649938583374, 5.713335037231445], [3.5218334197998047, 3.115649938583374, 5.9298415184021], [3.6468334197998047, 3.115649938583374, 6.146347999572754], [3.7718334197998047, 3.115649938583374, 6.362854480743408], [3.8968334197998047, 3.115649938583374, 6.5793609619140625], [3.961538076400757, 3.115649938583374, 6.820842266082764], [4.086538314819336, 3.115649938583374, 7.037348747253418], [4.263315200805664, 3.115649938583374, 7.214125633239746], [4.440092086791992, 3.115649938583374, 7.390902519226074], [4.61686897277832, 3.115649938583374, 7.567679405212402], [4.793645858764648, 3.115649938583374, 7.7444562911987305], [4.918645858764648, 3.115649938583374, 7.960962772369385], [5.043645858764648, 3.115649938583374, 8.177469253540039], [5.21118688583374, 3.115649938583374, 8.366560935974121], [5.452668190002441, 3.115649938583374, 8.506284713745117], [5.669174671173096, 3.115649938583374, 8.631284713745117], [5.845951557159424, 3.115649938583374, 8.808061599731445], [6.087432861328125, 3.115649938583374, 8.872766494750977], [6.328914165496826, 3.115649938583374, 8.937471389770508], [6.570395469665527, 3.115649938583374, 9.002176284790039], [6.8118767738342285, 3.115649938583374, 9.06688117980957], [6.8118767738342285, 3.115649938583374, 9.31688117980957], [6.8118767738342285, 3.115649938583374, 9.56688117980957], [6.8118767738342285, 3.115649938583374, 9.81688117980957], [6.8118767738342285, 3.115649938583374, 10.06688117980957], [6.8118767738342285, 3.115649938583374, 10.31688117980957], [6.747171878814697, 3.115649938583374, 10.55836296081543], [6.682466983795166, 3.115649938583374, 10.799844741821289], [6.682466983795166, 3.115649938583374, 11.049844741821289], [6.625455379486084, 3.115649938583374, 11.300344467163086], [6.500455379486084, 3.115649938583374, 11.516850471496582], [6.435750484466553, 3.115649938583374, 11.758332252502441]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 1, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 0]"}
{"id": 417, "episode_id": "418", "scene_id": "5LpN3gDmAk7", "instruction": "Go straight and into the bedroom to the left of the stairs. Stop in the large doorway to the right of the bed. ", "start_position": [1.668280005455017, 3.115649938583374, 2.978209972381592], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.2878098487854, 3.115649938583374, 12.09939956665039], "goal_radius": 3.0, "reference_path": "[[1.668280005455017, 3.115649938583374, 2.978209972381592], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.166319847106934, 3.115649938583374, 9.192919731140137], [6.2878098487854, 3.115649938583374, 12.09939956665039]]", "geodesic_distance": 10.896713256835938, "gt_locations": "[[1.668280005455017, 3.115649938583374, 2.978209972381592], [1.793280005455017, 3.115649938583374, 3.194716453552246], [1.918280005455017, 3.115649938583374, 3.4112229347229004], [2.0432801246643066, 3.115649938583374, 3.6277294158935547], [2.1682801246643066, 3.115649938583374, 3.844235897064209], [2.3450567722320557, 3.115649938583374, 4.021012783050537], [2.5218334197998047, 3.115649938583374, 4.197789669036865], [2.6468334197998047, 3.115649938583374, 4.4142961502075195], [2.7718334197998047, 3.115649938583374, 4.630802631378174], [2.8968334197998047, 3.115649938583374, 4.847309112548828], [3.0218334197998047, 3.115649938583374, 5.063815593719482], [3.1468334197998047, 3.115649938583374, 5.280322074890137], [3.2718334197998047, 3.115649938583374, 5.496828556060791], [3.3968334197998047, 3.115649938583374, 5.713335037231445], [3.5218334197998047, 3.115649938583374, 5.9298415184021], [3.6468334197998047, 3.115649938583374, 6.146347999572754], [3.7718334197998047, 3.115649938583374, 6.362854480743408], [3.8968334197998047, 3.115649938583374, 6.5793609619140625], [3.961538076400757, 3.115649938583374, 6.820842266082764], [4.086538314819336, 3.115649938583374, 7.037348747253418], [4.263315200805664, 3.115649938583374, 7.214125633239746], [4.440092086791992, 3.115649938583374, 7.390902519226074], [4.61686897277832, 3.115649938583374, 7.567679405212402], [4.793645858764648, 3.115649938583374, 7.7444562911987305], [4.918645858764648, 3.115649938583374, 7.960962772369385], [5.043645858764648, 3.115649938583374, 8.177469253540039], [5.21118688583374, 3.115649938583374, 8.366560935974121], [5.452668190002441, 3.115649938583374, 8.506284713745117], [5.669174671173096, 3.115649938583374, 8.631284713745117], [5.845951557159424, 3.115649938583374, 8.808061599731445], [6.087432861328125, 3.115649938583374, 8.872766494750977], [6.328914165496826, 3.115649938583374, 8.937471389770508], [6.570395469665527, 3.115649938583374, 9.002176284790039], [6.8118767738342285, 3.115649938583374, 9.06688117980957], [6.8118767738342285, 3.115649938583374, 9.31688117980957], [6.8118767738342285, 3.115649938583374, 9.56688117980957], [6.8118767738342285, 3.115649938583374, 9.81688117980957], [6.8118767738342285, 3.115649938583374, 10.06688117980957], [6.8118767738342285, 3.115649938583374, 10.31688117980957], [6.747171878814697, 3.115649938583374, 10.55836296081543], [6.682466983795166, 3.115649938583374, 10.799844741821289], [6.682466983795166, 3.115649938583374, 11.049844741821289], [6.625455379486084, 3.115649938583374, 11.300344467163086], [6.500455379486084, 3.115649938583374, 11.516850471496582], [6.435750484466553, 3.115649938583374, 11.758332252502441]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 1, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 0]"}
{"id": 418, "episode_id": "419", "scene_id": "759xd9YjKW5", "instruction": "walk away from couches, towards front door, turn right and turn left down the hallway before giant white doors, walk straight through doorway,turn right, turn left before you reach the dining table, walk through doorway to home gym and stop. ", "start_position": [-10.293399810791016, 0.09666500240564346, 1.381369948387146], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-5.003570079803467, 0.11331329494714737, -8.066499710083008], "goal_radius": 3.0, "reference_path": "[[-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-9.322649955749512, 0.09666500240564346, -0.470196008682251], [-6.930190086364746, 0.09666500240564346, -3.236180067062378], [-5.9525299072265625, 0.09666500240564346, -4.840240001678467], [-5.156670093536377, 0.09666500240564346, -6.015500068664551], [-5.003570079803467, 0.11331329494714737, -8.066499710083008]]", "geodesic_distance": 11.083898544311523, "gt_locations": "[[-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-10.168399810791016, 0.09666500240564346, 1.1648635864257812], [-10.043399810791016, 0.09666500240564346, 0.9483572244644165], [-9.918399810791016, 0.09666500240564346, 0.7318508625030518], [-9.793399810791016, 0.09666500240564346, 0.515344500541687], [-9.668399810791016, 0.09666500240564346, 0.29883813858032227], [-9.543399810791016, 0.09666500240564346, 0.08233179152011871], [-9.418399810791016, 0.09666500240564346, -0.13417455554008484], [-9.293399810791016, 0.09666500240564346, -0.3506808876991272], [-9.168399810791016, 0.09666500240564346, -0.5671872496604919], [-9.043399810791016, 0.09666500240564346, -0.7836936116218567], [-8.866622924804688, 0.09666500240564346, -0.9604703187942505], [-8.68984603881836, 0.09666500240564346, -1.137247085571289], [-8.513069152832031, 0.09666500240564346, -1.314023733139038], [-8.336292266845703, 0.09666500240564346, -1.490800380706787], [-8.159515380859375, 0.09666500240564346, -1.6675770282745361], [-7.982738494873047, 0.09666500240564346, -1.8443536758422852], [-7.805961608886719, 0.09666500240564346, -2.021130323410034], [-7.629184722900391, 0.09666500240564346, -2.197906970977783], [-7.504184722900391, 0.09666500240564346, -2.4144132137298584], [-7.379184722900391, 0.09666500240564346, -2.6309194564819336], [-7.254184722900391, 0.09666500240564346, -2.847425699234009], [-7.0774078369140625, 0.09666500240564346, -3.024202346801758], [-7.012702941894531, 0.09666500240564346, -3.265683889389038], [-6.947998046875, 0.09666500240564346, -3.5071654319763184], [-6.883293151855469, 0.09666500240564346, -3.7486469745635986], [-6.8185882568359375, 0.09666500240564346, -3.990128517150879], [-6.6935882568359375, 0.09666500240564346, -4.206634998321533], [-6.561247825622559, 0.09666500240564346, -4.427847862243652], [-6.298826217651367, 0.09666500240564346, -4.514797210693359], [-6.122049331665039, 0.09666500240564346, -4.6915740966796875], [-5.945272445678711, 0.09666500240564346, -4.868350982666016], [-5.768495559692383, 0.09666500240564346, -5.045127868652344], [-5.591718673706055, 0.09666500240564346, -5.221904754638672], [-5.466718673706055, 0.09666500240564346, -5.438411235809326], [-5.341718673706055, 0.09666500240564346, -5.6549177169799805], [-5.277013778686523, 0.09666500240564346, -5.896399021148682], [-5.212308883666992, 0.09666500240564346, -6.137880325317383], [-5.147603988647461, 0.09666500240564346, -6.379361629486084], [-5.147603988647461, 0.09666500240564346, -6.629361629486084], [-5.147603988647461, 0.09666500240564346, -6.879361629486084], [-5.147603988647461, 0.09666500240564346, -7.129361629486084], [-5.147603988647461, 0.09666500240564346, -7.379361629486084], [-5.08289909362793, 0.09666500240564346, -7.620842933654785]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 1, 3, 1, 3, 3, 3, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 419, "episode_id": "420", "scene_id": "759xd9YjKW5", "instruction": "Turn around and walk towards the kitchen. Proceed through the kitchen into the room with the stationary bike and treadmill. Stop in front of the stationary bike. ", "start_position": [-10.293399810791016, 0.09666500240564346, 1.381369948387146], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-5.003570079803467, 0.11331329494714737, -8.066499710083008], "goal_radius": 3.0, "reference_path": "[[-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-9.322649955749512, 0.09666500240564346, -0.470196008682251], [-6.930190086364746, 0.09666500240564346, -3.236180067062378], [-5.9525299072265625, 0.09666500240564346, -4.840240001678467], [-5.156670093536377, 0.09666500240564346, -6.015500068664551], [-5.003570079803467, 0.11331329494714737, -8.066499710083008]]", "geodesic_distance": 11.083898544311523, "gt_locations": "[[-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-10.168399810791016, 0.09666500240564346, 1.1648635864257812], [-10.043399810791016, 0.09666500240564346, 0.9483572244644165], [-9.918399810791016, 0.09666500240564346, 0.7318508625030518], [-9.793399810791016, 0.09666500240564346, 0.515344500541687], [-9.668399810791016, 0.09666500240564346, 0.29883813858032227], [-9.543399810791016, 0.09666500240564346, 0.08233179152011871], [-9.418399810791016, 0.09666500240564346, -0.13417455554008484], [-9.293399810791016, 0.09666500240564346, -0.3506808876991272], [-9.168399810791016, 0.09666500240564346, -0.5671872496604919], [-9.043399810791016, 0.09666500240564346, -0.7836936116218567], [-8.866622924804688, 0.09666500240564346, -0.9604703187942505], [-8.68984603881836, 0.09666500240564346, -1.137247085571289], [-8.513069152832031, 0.09666500240564346, -1.314023733139038], [-8.336292266845703, 0.09666500240564346, -1.490800380706787], [-8.159515380859375, 0.09666500240564346, -1.6675770282745361], [-7.982738494873047, 0.09666500240564346, -1.8443536758422852], [-7.805961608886719, 0.09666500240564346, -2.021130323410034], [-7.629184722900391, 0.09666500240564346, -2.197906970977783], [-7.504184722900391, 0.09666500240564346, -2.4144132137298584], [-7.379184722900391, 0.09666500240564346, -2.6309194564819336], [-7.254184722900391, 0.09666500240564346, -2.847425699234009], [-7.0774078369140625, 0.09666500240564346, -3.024202346801758], [-7.012702941894531, 0.09666500240564346, -3.265683889389038], [-6.947998046875, 0.09666500240564346, -3.5071654319763184], [-6.883293151855469, 0.09666500240564346, -3.7486469745635986], [-6.8185882568359375, 0.09666500240564346, -3.990128517150879], [-6.6935882568359375, 0.09666500240564346, -4.206634998321533], [-6.561247825622559, 0.09666500240564346, -4.427847862243652], [-6.298826217651367, 0.09666500240564346, -4.514797210693359], [-6.122049331665039, 0.09666500240564346, -4.6915740966796875], [-5.945272445678711, 0.09666500240564346, -4.868350982666016], [-5.768495559692383, 0.09666500240564346, -5.045127868652344], [-5.591718673706055, 0.09666500240564346, -5.221904754638672], [-5.466718673706055, 0.09666500240564346, -5.438411235809326], [-5.341718673706055, 0.09666500240564346, -5.6549177169799805], [-5.277013778686523, 0.09666500240564346, -5.896399021148682], [-5.212308883666992, 0.09666500240564346, -6.137880325317383], [-5.147603988647461, 0.09666500240564346, -6.379361629486084], [-5.147603988647461, 0.09666500240564346, -6.629361629486084], [-5.147603988647461, 0.09666500240564346, -6.879361629486084], [-5.147603988647461, 0.09666500240564346, -7.129361629486084], [-5.147603988647461, 0.09666500240564346, -7.379361629486084], [-5.08289909362793, 0.09666500240564346, -7.620842933654785]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 1, 3, 1, 3, 3, 3, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 420, "episode_id": "421", "scene_id": "759xd9YjKW5", "instruction": "Go across the room beyond the stairs, and down the narrow hall and through the kitchen.  Wait at the door to the gym. ", "start_position": [-10.293399810791016, 0.09666500240564346, 1.381369948387146], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-5.003570079803467, 0.11331329494714737, -8.066499710083008], "goal_radius": 3.0, "reference_path": "[[-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-9.322649955749512, 0.09666500240564346, -0.470196008682251], [-6.930190086364746, 0.09666500240564346, -3.236180067062378], [-5.9525299072265625, 0.09666500240564346, -4.840240001678467], [-5.156670093536377, 0.09666500240564346, -6.015500068664551], [-5.003570079803467, 0.11331329494714737, -8.066499710083008]]", "geodesic_distance": 11.083898544311523, "gt_locations": "[[-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-10.168399810791016, 0.09666500240564346, 1.1648635864257812], [-10.043399810791016, 0.09666500240564346, 0.9483572244644165], [-9.918399810791016, 0.09666500240564346, 0.7318508625030518], [-9.793399810791016, 0.09666500240564346, 0.515344500541687], [-9.668399810791016, 0.09666500240564346, 0.29883813858032227], [-9.543399810791016, 0.09666500240564346, 0.08233179152011871], [-9.418399810791016, 0.09666500240564346, -0.13417455554008484], [-9.293399810791016, 0.09666500240564346, -0.3506808876991272], [-9.168399810791016, 0.09666500240564346, -0.5671872496604919], [-9.043399810791016, 0.09666500240564346, -0.7836936116218567], [-8.866622924804688, 0.09666500240564346, -0.9604703187942505], [-8.68984603881836, 0.09666500240564346, -1.137247085571289], [-8.513069152832031, 0.09666500240564346, -1.314023733139038], [-8.336292266845703, 0.09666500240564346, -1.490800380706787], [-8.159515380859375, 0.09666500240564346, -1.6675770282745361], [-7.982738494873047, 0.09666500240564346, -1.8443536758422852], [-7.805961608886719, 0.09666500240564346, -2.021130323410034], [-7.629184722900391, 0.09666500240564346, -2.197906970977783], [-7.504184722900391, 0.09666500240564346, -2.4144132137298584], [-7.379184722900391, 0.09666500240564346, -2.6309194564819336], [-7.254184722900391, 0.09666500240564346, -2.847425699234009], [-7.0774078369140625, 0.09666500240564346, -3.024202346801758], [-7.012702941894531, 0.09666500240564346, -3.265683889389038], [-6.947998046875, 0.09666500240564346, -3.5071654319763184], [-6.883293151855469, 0.09666500240564346, -3.7486469745635986], [-6.8185882568359375, 0.09666500240564346, -3.990128517150879], [-6.6935882568359375, 0.09666500240564346, -4.206634998321533], [-6.561247825622559, 0.09666500240564346, -4.427847862243652], [-6.298826217651367, 0.09666500240564346, -4.514797210693359], [-6.122049331665039, 0.09666500240564346, -4.6915740966796875], [-5.945272445678711, 0.09666500240564346, -4.868350982666016], [-5.768495559692383, 0.09666500240564346, -5.045127868652344], [-5.591718673706055, 0.09666500240564346, -5.221904754638672], [-5.466718673706055, 0.09666500240564346, -5.438411235809326], [-5.341718673706055, 0.09666500240564346, -5.6549177169799805], [-5.277013778686523, 0.09666500240564346, -5.896399021148682], [-5.212308883666992, 0.09666500240564346, -6.137880325317383], [-5.147603988647461, 0.09666500240564346, -6.379361629486084], [-5.147603988647461, 0.09666500240564346, -6.629361629486084], [-5.147603988647461, 0.09666500240564346, -6.879361629486084], [-5.147603988647461, 0.09666500240564346, -7.129361629486084], [-5.147603988647461, 0.09666500240564346, -7.379361629486084], [-5.08289909362793, 0.09666500240564346, -7.620842933654785]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 3, 1, 3, 1, 3, 3, 3, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 421, "episode_id": "422", "scene_id": "r1Q1Z4BcV1o", "instruction": "Walk straight until you get to the the third to the last round table and wait there. ", "start_position": [-14.469099998474121, 0.07537198066711426, -19.4601993560791], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-5.0525898933410645, 0.07537198066711426, -18.843399047851562], "goal_radius": 3.0, "reference_path": "[[-14.469099998474121, 0.07537198066711426, -19.4601993560791], [-13.55459976196289, 0.07537198066711426, -18.64080047607422], [-12.220199584960938, 0.07537198066711426, -18.247800827026367], [-9.916390419006348, 0.07537198066711426, -18.550199508666992], [-6.617869853973389, 0.07537198066711426, -18.747499465942383], [-5.0525898933410645, 0.07537198066711426, -18.843399047851562]]", "geodesic_distance": 9.441858291625977, "gt_locations": "[[-14.469099998474121, 0.07537198066711426, -19.4601993560791], [-14.292323112487793, 0.07537198066711426, -19.283422470092773], [-14.115546226501465, 0.07537198066711426, -19.106645584106445], [-13.938769340515137, 0.07537198066711426, -18.929868698120117], [-13.72226333618164, 0.07537198066711426, -18.804868698120117], [-13.505757331848145, 0.07537198066711426, -18.679868698120117], [-13.264275550842285, 0.07537198066711426, -18.615163803100586], [-13.022793769836426, 0.07537198066711426, -18.550458908081055], [-12.781311988830566, 0.07537198066711426, -18.485754013061523], [-12.539830207824707, 0.07537198066711426, -18.421049118041992], [-12.298348426818848, 0.07537198066711426, -18.35634422302246], [-12.048348426818848, 0.07537198066711426, -18.35634422302246], [-11.798348426818848, 0.07537198066711426, -18.35634422302246], [-11.556866645812988, 0.07537198066711426, -18.29163932800293], [-11.306866645812988, 0.07537198066711426, -18.29163932800293], [-11.05618667602539, 0.07537198066711426, -18.31035614013672], [-10.814704895019531, 0.07537198066711426, -18.37506103515625], [-10.573223114013672, 0.07537198066711426, -18.43976593017578], [-10.331741333007812, 0.07537198066711426, -18.504470825195312], [-10.081741333007812, 0.07537198066711426, -18.504470825195312], [-9.831741333007812, 0.07537198066711426, -18.504470825195312], [-9.581741333007812, 0.07537198066711426, -18.504470825195312], [-9.331741333007812, 0.07537198066711426, -18.504470825195312], [-9.081741333007812, 0.07537198066711426, -18.504470825195312], [-8.831741333007812, 0.07537198066711426, -18.504470825195312], [-8.581741333007812, 0.07537198066711426, -18.504470825195312], [-8.331741333007812, 0.07537198066711426, -18.504470825195312], [-8.081741333007812, 0.07537198066711426, -18.504470825195312], [-7.8317413330078125, 0.07537198066711426, -18.504470825195312], [-7.590260028839111, 0.07537198066711426, -18.569175720214844], [-7.34877872467041, 0.07537198066711426, -18.633880615234375], [-7.107297420501709, 0.07537198066711426, -18.698585510253906], [-6.857297420501709, 0.07537198066711426, -18.698585510253906], [-6.607297420501709, 0.07537198066711426, -18.698585510253906], [-6.357297420501709, 0.07537198066711426, -18.698585510253906], [-6.107297420501709, 0.07537198066711426, -18.698585510253906], [-5.857297420501709, 0.07537198066711426, -18.698585510253906], [-5.615816116333008, 0.07537198066711426, -18.763290405273438], [-5.374334812164307, 0.07537198066711426, -18.82799530029297]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 422, "episode_id": "423", "scene_id": "r1Q1Z4BcV1o", "instruction": "Cross to the second table across the way. ", "start_position": [-14.469099998474121, 0.07537198066711426, -19.4601993560791], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-5.0525898933410645, 0.07537198066711426, -18.843399047851562], "goal_radius": 3.0, "reference_path": "[[-14.469099998474121, 0.07537198066711426, -19.4601993560791], [-13.55459976196289, 0.07537198066711426, -18.64080047607422], [-12.220199584960938, 0.07537198066711426, -18.247800827026367], [-9.916390419006348, 0.07537198066711426, -18.550199508666992], [-6.617869853973389, 0.07537198066711426, -18.747499465942383], [-5.0525898933410645, 0.07537198066711426, -18.843399047851562]]", "geodesic_distance": 9.441858291625977, "gt_locations": "[[-14.469099998474121, 0.07537198066711426, -19.4601993560791], [-14.292323112487793, 0.07537198066711426, -19.283422470092773], [-14.115546226501465, 0.07537198066711426, -19.106645584106445], [-13.938769340515137, 0.07537198066711426, -18.929868698120117], [-13.72226333618164, 0.07537198066711426, -18.804868698120117], [-13.505757331848145, 0.07537198066711426, -18.679868698120117], [-13.264275550842285, 0.07537198066711426, -18.615163803100586], [-13.022793769836426, 0.07537198066711426, -18.550458908081055], [-12.781311988830566, 0.07537198066711426, -18.485754013061523], [-12.539830207824707, 0.07537198066711426, -18.421049118041992], [-12.298348426818848, 0.07537198066711426, -18.35634422302246], [-12.048348426818848, 0.07537198066711426, -18.35634422302246], [-11.798348426818848, 0.07537198066711426, -18.35634422302246], [-11.556866645812988, 0.07537198066711426, -18.29163932800293], [-11.306866645812988, 0.07537198066711426, -18.29163932800293], [-11.05618667602539, 0.07537198066711426, -18.31035614013672], [-10.814704895019531, 0.07537198066711426, -18.37506103515625], [-10.573223114013672, 0.07537198066711426, -18.43976593017578], [-10.331741333007812, 0.07537198066711426, -18.504470825195312], [-10.081741333007812, 0.07537198066711426, -18.504470825195312], [-9.831741333007812, 0.07537198066711426, -18.504470825195312], [-9.581741333007812, 0.07537198066711426, -18.504470825195312], [-9.331741333007812, 0.07537198066711426, -18.504470825195312], [-9.081741333007812, 0.07537198066711426, -18.504470825195312], [-8.831741333007812, 0.07537198066711426, -18.504470825195312], [-8.581741333007812, 0.07537198066711426, -18.504470825195312], [-8.331741333007812, 0.07537198066711426, -18.504470825195312], [-8.081741333007812, 0.07537198066711426, -18.504470825195312], [-7.8317413330078125, 0.07537198066711426, -18.504470825195312], [-7.590260028839111, 0.07537198066711426, -18.569175720214844], [-7.34877872467041, 0.07537198066711426, -18.633880615234375], [-7.107297420501709, 0.07537198066711426, -18.698585510253906], [-6.857297420501709, 0.07537198066711426, -18.698585510253906], [-6.607297420501709, 0.07537198066711426, -18.698585510253906], [-6.357297420501709, 0.07537198066711426, -18.698585510253906], [-6.107297420501709, 0.07537198066711426, -18.698585510253906], [-5.857297420501709, 0.07537198066711426, -18.698585510253906], [-5.615816116333008, 0.07537198066711426, -18.763290405273438], [-5.374334812164307, 0.07537198066711426, -18.82799530029297]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 423, "episode_id": "424", "scene_id": "r1Q1Z4BcV1o", "instruction": "Walk straight ahead across the patio area and stop in front of the window past the last door on the right. ", "start_position": [-14.469099998474121, 0.07537198066711426, -19.4601993560791], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-5.0525898933410645, 0.07537198066711426, -18.843399047851562], "goal_radius": 3.0, "reference_path": "[[-14.469099998474121, 0.07537198066711426, -19.4601993560791], [-13.55459976196289, 0.07537198066711426, -18.64080047607422], [-12.220199584960938, 0.07537198066711426, -18.247800827026367], [-9.916390419006348, 0.07537198066711426, -18.550199508666992], [-6.617869853973389, 0.07537198066711426, -18.747499465942383], [-5.0525898933410645, 0.07537198066711426, -18.843399047851562]]", "geodesic_distance": 9.441858291625977, "gt_locations": "[[-14.469099998474121, 0.07537198066711426, -19.4601993560791], [-14.292323112487793, 0.07537198066711426, -19.283422470092773], [-14.115546226501465, 0.07537198066711426, -19.106645584106445], [-13.938769340515137, 0.07537198066711426, -18.929868698120117], [-13.72226333618164, 0.07537198066711426, -18.804868698120117], [-13.505757331848145, 0.07537198066711426, -18.679868698120117], [-13.264275550842285, 0.07537198066711426, -18.615163803100586], [-13.022793769836426, 0.07537198066711426, -18.550458908081055], [-12.781311988830566, 0.07537198066711426, -18.485754013061523], [-12.539830207824707, 0.07537198066711426, -18.421049118041992], [-12.298348426818848, 0.07537198066711426, -18.35634422302246], [-12.048348426818848, 0.07537198066711426, -18.35634422302246], [-11.798348426818848, 0.07537198066711426, -18.35634422302246], [-11.556866645812988, 0.07537198066711426, -18.29163932800293], [-11.306866645812988, 0.07537198066711426, -18.29163932800293], [-11.05618667602539, 0.07537198066711426, -18.31035614013672], [-10.814704895019531, 0.07537198066711426, -18.37506103515625], [-10.573223114013672, 0.07537198066711426, -18.43976593017578], [-10.331741333007812, 0.07537198066711426, -18.504470825195312], [-10.081741333007812, 0.07537198066711426, -18.504470825195312], [-9.831741333007812, 0.07537198066711426, -18.504470825195312], [-9.581741333007812, 0.07537198066711426, -18.504470825195312], [-9.331741333007812, 0.07537198066711426, -18.504470825195312], [-9.081741333007812, 0.07537198066711426, -18.504470825195312], [-8.831741333007812, 0.07537198066711426, -18.504470825195312], [-8.581741333007812, 0.07537198066711426, -18.504470825195312], [-8.331741333007812, 0.07537198066711426, -18.504470825195312], [-8.081741333007812, 0.07537198066711426, -18.504470825195312], [-7.8317413330078125, 0.07537198066711426, -18.504470825195312], [-7.590260028839111, 0.07537198066711426, -18.569175720214844], [-7.34877872467041, 0.07537198066711426, -18.633880615234375], [-7.107297420501709, 0.07537198066711426, -18.698585510253906], [-6.857297420501709, 0.07537198066711426, -18.698585510253906], [-6.607297420501709, 0.07537198066711426, -18.698585510253906], [-6.357297420501709, 0.07537198066711426, -18.698585510253906], [-6.107297420501709, 0.07537198066711426, -18.698585510253906], [-5.857297420501709, 0.07537198066711426, -18.698585510253906], [-5.615816116333008, 0.07537198066711426, -18.763290405273438], [-5.374334812164307, 0.07537198066711426, -18.82799530029297]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 424, "episode_id": "425", "scene_id": "jh4fc5c5qoQ", "instruction": "Walk up the steps, past the rocking chairs and stop in the doorway into the building. ", "start_position": [10.456899642944336, 0.005573004484176636, 2.683729887008667], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [0.9024890065193176, 0.9426379203796387, 1.6029599905014038], "goal_radius": 3.0, "reference_path": "[[10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [8.091230392456055, 0.005573004484176636, 2.955389976501465], [6.589139938354492, 0.1787712126970291, 3.4783499240875244], [4.746829986572266, 0.8055729866027832, 3.700200080871582], [3.276930093765259, 0.7714970111846924, 3.697540044784546], [0.9024890065193176, 0.9426379203796387, 1.6029599905014038]]", "geodesic_distance": 10.33415412902832, "gt_locations": "[[10.456899642944336, 0.005573004484176636, 2.683729887008667], [10.206899642944336, 0.005573004484176636, 2.683729887008667], [9.965417861938477, 0.08001033216714859, 2.748434543609619], [9.723936080932617, 0.054951805621385574, 2.8131392002105713], [9.473936080932617, 0.02464878186583519, 2.8131392002105713], [9.223936080932617, 0.005573004484176636, 2.8131392002105713], [8.973936080932617, 0.005573004484176636, 2.8131392002105713], [8.723936080932617, 0.005573004484176636, 2.8131392002105713], [8.482454299926758, 0.005573004484176636, 2.8778438568115234], [8.240972518920898, 0.005573004484176636, 2.9425485134124756], [7.999491214752197, 0.01337377168238163, 3.0072531700134277], [7.758009910583496, 0.048496127128601074, 3.07195782661438], [7.516528606414795, 0.08361848443746567, 3.136662483215332], [7.275047302246094, 0.11121018975973129, 3.201367139816284], [7.033565998077393, 0.13134430348873138, 3.2660717964172363], [6.792084693908691, 0.15659669041633606, 3.3307764530181885], [6.55060338973999, 0.18184906244277954, 3.3954811096191406], [6.309122085571289, 0.21271365880966187, 3.4601857662200928], [6.067640781402588, 0.3306899666786194, 3.524890422821045], [5.826159477233887, 0.4486662447452545, 3.589595079421997], [5.5846781730651855, 0.5794912576675415, 3.654299736022949], [5.343196868896484, 0.7306792140007019, 3.7190043926239014], [5.093196868896484, 0.8055729866027832, 3.7190043926239014], [4.843196868896484, 0.8055729866027832, 3.7190043926239014], [4.593196868896484, 0.8055729866027832, 3.7190043926239014], [4.343196868896484, 0.8055729866027832, 3.7190043926239014], [4.093196868896484, 0.8055729866027832, 3.7190043926239014], [3.8431968688964844, 0.792926549911499, 3.7190043926239014], [3.5931968688964844, 0.7554019093513489, 3.7190043926239014], [3.351715326309204, 0.7691087126731873, 3.654299736022949], [3.135209083557129, 0.7833632826805115, 3.529299736022949], [2.9187028408050537, 0.7976178526878357, 3.404299736022949], [2.7021965980529785, 0.8055729866027832, 3.279299736022949], [2.4607150554656982, 0.8055729866027832, 3.214594841003418], [2.219233512878418, 0.8055729866027832, 3.1498899459838867], [2.0027272701263428, 0.8055729866027832, 3.0248899459838867], [1.8134660720825195, 0.8055729866027832, 2.8481132984161377], [1.6366894245147705, 0.8055729866027832, 2.6713366508483887], [1.5116894245147705, 0.8055729866027832, 2.4548301696777344], [1.3866894245147705, 0.8055729866027832, 2.23832368850708], [1.2099127769470215, 0.8055729866027832, 2.061547040939331], [1.0331361293792725, 0.8055729866027832, 1.8847702741622925]]", "gt_actions": "[1, 2, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 1, 0]"}
{"id": 425, "episode_id": "426", "scene_id": "jh4fc5c5qoQ", "instruction": "With the stairs leading down to your left, move forward and climb the four steps to the higher porch. Continue forward and stand in the entrance to the building on your right. ", "start_position": [10.456899642944336, 0.005573004484176636, 2.683729887008667], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [0.9024890065193176, 0.9426379203796387, 1.6029599905014038], "goal_radius": 3.0, "reference_path": "[[10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [8.091230392456055, 0.005573004484176636, 2.955389976501465], [6.589139938354492, 0.1787712126970291, 3.4783499240875244], [4.746829986572266, 0.8055729866027832, 3.700200080871582], [3.276930093765259, 0.7714970111846924, 3.697540044784546], [0.9024890065193176, 0.9426379203796387, 1.6029599905014038]]", "geodesic_distance": 10.33415412902832, "gt_locations": "[[10.456899642944336, 0.005573004484176636, 2.683729887008667], [10.206899642944336, 0.005573004484176636, 2.683729887008667], [9.965417861938477, 0.08001033216714859, 2.748434543609619], [9.723936080932617, 0.054951805621385574, 2.8131392002105713], [9.473936080932617, 0.02464878186583519, 2.8131392002105713], [9.223936080932617, 0.005573004484176636, 2.8131392002105713], [8.973936080932617, 0.005573004484176636, 2.8131392002105713], [8.723936080932617, 0.005573004484176636, 2.8131392002105713], [8.482454299926758, 0.005573004484176636, 2.8778438568115234], [8.240972518920898, 0.005573004484176636, 2.9425485134124756], [7.999491214752197, 0.01337377168238163, 3.0072531700134277], [7.758009910583496, 0.048496127128601074, 3.07195782661438], [7.516528606414795, 0.08361848443746567, 3.136662483215332], [7.275047302246094, 0.11121018975973129, 3.201367139816284], [7.033565998077393, 0.13134430348873138, 3.2660717964172363], [6.792084693908691, 0.15659669041633606, 3.3307764530181885], [6.55060338973999, 0.18184906244277954, 3.3954811096191406], [6.309122085571289, 0.21271365880966187, 3.4601857662200928], [6.067640781402588, 0.3306899666786194, 3.524890422821045], [5.826159477233887, 0.4486662447452545, 3.589595079421997], [5.5846781730651855, 0.5794912576675415, 3.654299736022949], [5.343196868896484, 0.7306792140007019, 3.7190043926239014], [5.093196868896484, 0.8055729866027832, 3.7190043926239014], [4.843196868896484, 0.8055729866027832, 3.7190043926239014], [4.593196868896484, 0.8055729866027832, 3.7190043926239014], [4.343196868896484, 0.8055729866027832, 3.7190043926239014], [4.093196868896484, 0.8055729866027832, 3.7190043926239014], [3.8431968688964844, 0.792926549911499, 3.7190043926239014], [3.5931968688964844, 0.7554019093513489, 3.7190043926239014], [3.351715326309204, 0.7691087126731873, 3.654299736022949], [3.135209083557129, 0.7833632826805115, 3.529299736022949], [2.9187028408050537, 0.7976178526878357, 3.404299736022949], [2.7021965980529785, 0.8055729866027832, 3.279299736022949], [2.4607150554656982, 0.8055729866027832, 3.214594841003418], [2.219233512878418, 0.8055729866027832, 3.1498899459838867], [2.0027272701263428, 0.8055729866027832, 3.0248899459838867], [1.8134660720825195, 0.8055729866027832, 2.8481132984161377], [1.6366894245147705, 0.8055729866027832, 2.6713366508483887], [1.5116894245147705, 0.8055729866027832, 2.4548301696777344], [1.3866894245147705, 0.8055729866027832, 2.23832368850708], [1.2099127769470215, 0.8055729866027832, 2.061547040939331], [1.0331361293792725, 0.8055729866027832, 1.8847702741622925]]", "gt_actions": "[1, 2, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 1, 0]"}
{"id": 426, "episode_id": "427", "scene_id": "jh4fc5c5qoQ", "instruction": "Go straight and go up the steps. Walk past the 3 rocking chairs and enter the doorway on the right. ", "start_position": [10.456899642944336, 0.005573004484176636, 2.683729887008667], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [0.9024890065193176, 0.9426379203796387, 1.6029599905014038], "goal_radius": 3.0, "reference_path": "[[10.456899642944336, 0.005573004484176636, 2.683729887008667], [9.334070205688477, 0.010303772985935211, 2.853209972381592], [8.091230392456055, 0.005573004484176636, 2.955389976501465], [6.589139938354492, 0.1787712126970291, 3.4783499240875244], [4.746829986572266, 0.8055729866027832, 3.700200080871582], [3.276930093765259, 0.7714970111846924, 3.697540044784546], [0.9024890065193176, 0.9426379203796387, 1.6029599905014038]]", "geodesic_distance": 10.33415412902832, "gt_locations": "[[10.456899642944336, 0.005573004484176636, 2.683729887008667], [10.206899642944336, 0.005573004484176636, 2.683729887008667], [9.965417861938477, 0.08001033216714859, 2.748434543609619], [9.723936080932617, 0.054951805621385574, 2.8131392002105713], [9.473936080932617, 0.02464878186583519, 2.8131392002105713], [9.223936080932617, 0.005573004484176636, 2.8131392002105713], [8.973936080932617, 0.005573004484176636, 2.8131392002105713], [8.723936080932617, 0.005573004484176636, 2.8131392002105713], [8.482454299926758, 0.005573004484176636, 2.8778438568115234], [8.240972518920898, 0.005573004484176636, 2.9425485134124756], [7.999491214752197, 0.01337377168238163, 3.0072531700134277], [7.758009910583496, 0.048496127128601074, 3.07195782661438], [7.516528606414795, 0.08361848443746567, 3.136662483215332], [7.275047302246094, 0.11121018975973129, 3.201367139816284], [7.033565998077393, 0.13134430348873138, 3.2660717964172363], [6.792084693908691, 0.15659669041633606, 3.3307764530181885], [6.55060338973999, 0.18184906244277954, 3.3954811096191406], [6.309122085571289, 0.21271365880966187, 3.4601857662200928], [6.067640781402588, 0.3306899666786194, 3.524890422821045], [5.826159477233887, 0.4486662447452545, 3.589595079421997], [5.5846781730651855, 0.5794912576675415, 3.654299736022949], [5.343196868896484, 0.7306792140007019, 3.7190043926239014], [5.093196868896484, 0.8055729866027832, 3.7190043926239014], [4.843196868896484, 0.8055729866027832, 3.7190043926239014], [4.593196868896484, 0.8055729866027832, 3.7190043926239014], [4.343196868896484, 0.8055729866027832, 3.7190043926239014], [4.093196868896484, 0.8055729866027832, 3.7190043926239014], [3.8431968688964844, 0.792926549911499, 3.7190043926239014], [3.5931968688964844, 0.7554019093513489, 3.7190043926239014], [3.351715326309204, 0.7691087126731873, 3.654299736022949], [3.135209083557129, 0.7833632826805115, 3.529299736022949], [2.9187028408050537, 0.7976178526878357, 3.404299736022949], [2.7021965980529785, 0.8055729866027832, 3.279299736022949], [2.4607150554656982, 0.8055729866027832, 3.214594841003418], [2.219233512878418, 0.8055729866027832, 3.1498899459838867], [2.0027272701263428, 0.8055729866027832, 3.0248899459838867], [1.8134660720825195, 0.8055729866027832, 2.8481132984161377], [1.6366894245147705, 0.8055729866027832, 2.6713366508483887], [1.5116894245147705, 0.8055729866027832, 2.4548301696777344], [1.3866894245147705, 0.8055729866027832, 2.23832368850708], [1.2099127769470215, 0.8055729866027832, 2.061547040939331], [1.0331361293792725, 0.8055729866027832, 1.8847702741622925]]", "gt_actions": "[1, 2, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 3, 1, 1, 3, 1, 1, 2, 1, 1, 0]"}
{"id": 427, "episode_id": "428", "scene_id": "kEZ7cmS4wCh", "instruction": "Go indoors. Walk past the couches and into the kitchen. Walk past the kitchen and then wait near the black glass table with the chairs. ", "start_position": [0.13474200665950775, -0.3136729598045349, -14.572799682617188], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-0.9079660177230835, -0.3136729598045349, -3.129970073699951], "goal_radius": 3.0, "reference_path": "[[0.13474200665950775, -0.3136729598045349, -14.572799682617188], [-0.24004299938678741, -0.3136729598045349, -13.664400100708008], [-0.9295079708099365, -0.3136729598045349, -11.760100364685059], [-0.3209950029850006, -0.3136729598045349, -8.813019752502441], [-0.8904150128364563, -0.3136729598045349, -5.340879917144775], [-1.0216799974441528, -0.3136729598045349, -4.362539768218994], [-0.9079660177230835, -0.3136729598045349, -3.129970073699951]]", "geodesic_distance": 11.827871322631836, "gt_locations": "[[0.13474200665950775, -0.3136729598045349, -14.572799682617188], [0.009742006659507751, -0.3136729598045349, -14.356293678283691], [-0.05496276170015335, -0.3136729598045349, -14.114811897277832], [-0.05496276170015335, -0.3136729598045349, -13.864811897277832], [-0.05496276170015335, -0.3136729598045349, -13.614811897277832], [-0.05496276170015335, -0.3136729598045349, -13.364811897277832], [-0.05496276170015335, -0.3136729598045349, -13.114811897277832], [-0.05496276170015335, -0.3136729598045349, -12.864811897277832], [0.009742006659507751, -0.3136729598045349, -12.623330116271973], [0.009742006659507751, -0.3136729598045349, -12.373330116271973], [-0.05363866686820984, -0.3136729598045349, -12.130524635314941], [-0.23041485249996185, -0.3136729598045349, -11.953747749328613], [-0.4648323953151703, -0.3136729598045349, -11.853723526000977], [-0.5898323655128479, -0.3136729598045349, -11.63721752166748], [-0.7148323655128479, -0.3136729598045349, -11.420711517333984], [-0.8572714924812317, -0.3136729598045349, -11.202549934387207], [-0.9822715520858765, -0.3136729598045349, -10.986043930053711], [-1.0469763278961182, -0.3136729598045349, -10.744562149047852], [-1.0968399047851562, -0.3136729598045349, -10.494562149047852], [-1.0968399047851562, -0.3136729598045349, -10.244562149047852], [-0.9718399047851562, -0.3136729598045349, -10.028056144714355], [-0.8468399047851562, -0.3136729598045349, -9.81155014038086], [-0.7218399047851562, -0.3136729598045349, -9.595044136047363], [-0.5968399047851562, -0.3136729598045349, -9.378538131713867], [-0.47183987498283386, -0.3136729598045349, -9.162032127380371], [-0.4718398451805115, -0.3136729598045349, -8.912032127380371], [-0.4718398153781891, -0.3136729598045349, -8.662032127380371], [-0.4718397855758667, -0.3136729598045349, -8.412032127380371], [-0.5365445613861084, -0.3136729598045349, -8.170550346374512], [-0.6012493371963501, -0.3136729598045349, -7.9290690422058105], [-0.6659541130065918, -0.3136729598045349, -7.687587738037109], [-0.7306588888168335, -0.3136729598045349, -7.446106433868408], [-0.7953636646270752, -0.3136729598045349, -7.204625129699707], [-0.8600684404373169, -0.3136729598045349, -6.963143825531006], [-0.8600684404373169, -0.3136729598045349, -6.713143825531006], [-0.8600684404373169, -0.3136729598045349, -6.463143825531006], [-0.8600684404373169, -0.3136729598045349, -6.213143825531006], [-0.8600684404373169, -0.3136729598045349, -5.963143825531006], [-0.8600684404373169, -0.3136729598045349, -5.713143825531006], [-0.8600684404373169, -0.3136729598045349, -5.463143825531006], [-0.8600684404373169, -0.3136729598045349, -5.213143825531006], [-0.9247732162475586, -0.3136729598045349, -4.971662521362305], [-0.9894779920578003, -0.3136729598045349, -4.7301812171936035], [-0.9894779920578003, -0.3136729598045349, -4.4801812171936035], [-0.9894779920578003, -0.3136729598045349, -4.2301812171936035], [-0.9894779920578003, -0.3136729598045349, -3.9801812171936035], [-0.9894779920578003, -0.3136729598045349, -3.7301812171936035], [-0.9894779920578003, -0.3136729598045349, -3.4801812171936035]]", "gt_actions": "[2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 3, 3, 1, 3, 3, 1, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 428, "episode_id": "429", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk inside towards the chairs and go straight through the sitting area into the kitchen area.  Walk past the kitchen area and stop in front of the potted plant right next to the stairs. ", "start_position": [0.13474200665950775, -0.3136729598045349, -14.572799682617188], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-0.9079660177230835, -0.3136729598045349, -3.129970073699951], "goal_radius": 3.0, "reference_path": "[[0.13474200665950775, -0.3136729598045349, -14.572799682617188], [-0.24004299938678741, -0.3136729598045349, -13.664400100708008], [-0.9295079708099365, -0.3136729598045349, -11.760100364685059], [-0.3209950029850006, -0.3136729598045349, -8.813019752502441], [-0.8904150128364563, -0.3136729598045349, -5.340879917144775], [-1.0216799974441528, -0.3136729598045349, -4.362539768218994], [-0.9079660177230835, -0.3136729598045349, -3.129970073699951]]", "geodesic_distance": 11.827871322631836, "gt_locations": "[[0.13474200665950775, -0.3136729598045349, -14.572799682617188], [0.009742006659507751, -0.3136729598045349, -14.356293678283691], [-0.05496276170015335, -0.3136729598045349, -14.114811897277832], [-0.05496276170015335, -0.3136729598045349, -13.864811897277832], [-0.05496276170015335, -0.3136729598045349, -13.614811897277832], [-0.05496276170015335, -0.3136729598045349, -13.364811897277832], [-0.05496276170015335, -0.3136729598045349, -13.114811897277832], [-0.05496276170015335, -0.3136729598045349, -12.864811897277832], [0.009742006659507751, -0.3136729598045349, -12.623330116271973], [0.009742006659507751, -0.3136729598045349, -12.373330116271973], [-0.05363866686820984, -0.3136729598045349, -12.130524635314941], [-0.23041485249996185, -0.3136729598045349, -11.953747749328613], [-0.4648323953151703, -0.3136729598045349, -11.853723526000977], [-0.5898323655128479, -0.3136729598045349, -11.63721752166748], [-0.7148323655128479, -0.3136729598045349, -11.420711517333984], [-0.8572714924812317, -0.3136729598045349, -11.202549934387207], [-0.9822715520858765, -0.3136729598045349, -10.986043930053711], [-1.0469763278961182, -0.3136729598045349, -10.744562149047852], [-1.0968399047851562, -0.3136729598045349, -10.494562149047852], [-1.0968399047851562, -0.3136729598045349, -10.244562149047852], [-0.9718399047851562, -0.3136729598045349, -10.028056144714355], [-0.8468399047851562, -0.3136729598045349, -9.81155014038086], [-0.7218399047851562, -0.3136729598045349, -9.595044136047363], [-0.5968399047851562, -0.3136729598045349, -9.378538131713867], [-0.47183987498283386, -0.3136729598045349, -9.162032127380371], [-0.4718398451805115, -0.3136729598045349, -8.912032127380371], [-0.4718398153781891, -0.3136729598045349, -8.662032127380371], [-0.4718397855758667, -0.3136729598045349, -8.412032127380371], [-0.5365445613861084, -0.3136729598045349, -8.170550346374512], [-0.6012493371963501, -0.3136729598045349, -7.9290690422058105], [-0.6659541130065918, -0.3136729598045349, -7.687587738037109], [-0.7306588888168335, -0.3136729598045349, -7.446106433868408], [-0.7953636646270752, -0.3136729598045349, -7.204625129699707], [-0.8600684404373169, -0.3136729598045349, -6.963143825531006], [-0.8600684404373169, -0.3136729598045349, -6.713143825531006], [-0.8600684404373169, -0.3136729598045349, -6.463143825531006], [-0.8600684404373169, -0.3136729598045349, -6.213143825531006], [-0.8600684404373169, -0.3136729598045349, -5.963143825531006], [-0.8600684404373169, -0.3136729598045349, -5.713143825531006], [-0.8600684404373169, -0.3136729598045349, -5.463143825531006], [-0.8600684404373169, -0.3136729598045349, -5.213143825531006], [-0.9247732162475586, -0.3136729598045349, -4.971662521362305], [-0.9894779920578003, -0.3136729598045349, -4.7301812171936035], [-0.9894779920578003, -0.3136729598045349, -4.4801812171936035], [-0.9894779920578003, -0.3136729598045349, -4.2301812171936035], [-0.9894779920578003, -0.3136729598045349, -3.9801812171936035], [-0.9894779920578003, -0.3136729598045349, -3.7301812171936035], [-0.9894779920578003, -0.3136729598045349, -3.4801812171936035]]", "gt_actions": "[2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 3, 3, 1, 3, 3, 1, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 429, "episode_id": "430", "scene_id": "kEZ7cmS4wCh", "instruction": "Enter the house through the patio doors and walk through the living room.  Then walk past the kitchen and enter the dinning room.  Wait near the table. ", "start_position": [0.13474200665950775, -0.3136729598045349, -14.572799682617188], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-0.9079660177230835, -0.3136729598045349, -3.129970073699951], "goal_radius": 3.0, "reference_path": "[[0.13474200665950775, -0.3136729598045349, -14.572799682617188], [-0.24004299938678741, -0.3136729598045349, -13.664400100708008], [-0.9295079708099365, -0.3136729598045349, -11.760100364685059], [-0.3209950029850006, -0.3136729598045349, -8.813019752502441], [-0.8904150128364563, -0.3136729598045349, -5.340879917144775], [-1.0216799974441528, -0.3136729598045349, -4.362539768218994], [-0.9079660177230835, -0.3136729598045349, -3.129970073699951]]", "geodesic_distance": 11.827871322631836, "gt_locations": "[[0.13474200665950775, -0.3136729598045349, -14.572799682617188], [0.009742006659507751, -0.3136729598045349, -14.356293678283691], [-0.05496276170015335, -0.3136729598045349, -14.114811897277832], [-0.05496276170015335, -0.3136729598045349, -13.864811897277832], [-0.05496276170015335, -0.3136729598045349, -13.614811897277832], [-0.05496276170015335, -0.3136729598045349, -13.364811897277832], [-0.05496276170015335, -0.3136729598045349, -13.114811897277832], [-0.05496276170015335, -0.3136729598045349, -12.864811897277832], [0.009742006659507751, -0.3136729598045349, -12.623330116271973], [0.009742006659507751, -0.3136729598045349, -12.373330116271973], [-0.05363866686820984, -0.3136729598045349, -12.130524635314941], [-0.23041485249996185, -0.3136729598045349, -11.953747749328613], [-0.4648323953151703, -0.3136729598045349, -11.853723526000977], [-0.5898323655128479, -0.3136729598045349, -11.63721752166748], [-0.7148323655128479, -0.3136729598045349, -11.420711517333984], [-0.8572714924812317, -0.3136729598045349, -11.202549934387207], [-0.9822715520858765, -0.3136729598045349, -10.986043930053711], [-1.0469763278961182, -0.3136729598045349, -10.744562149047852], [-1.0968399047851562, -0.3136729598045349, -10.494562149047852], [-1.0968399047851562, -0.3136729598045349, -10.244562149047852], [-0.9718399047851562, -0.3136729598045349, -10.028056144714355], [-0.8468399047851562, -0.3136729598045349, -9.81155014038086], [-0.7218399047851562, -0.3136729598045349, -9.595044136047363], [-0.5968399047851562, -0.3136729598045349, -9.378538131713867], [-0.47183987498283386, -0.3136729598045349, -9.162032127380371], [-0.4718398451805115, -0.3136729598045349, -8.912032127380371], [-0.4718398153781891, -0.3136729598045349, -8.662032127380371], [-0.4718397855758667, -0.3136729598045349, -8.412032127380371], [-0.5365445613861084, -0.3136729598045349, -8.170550346374512], [-0.6012493371963501, -0.3136729598045349, -7.9290690422058105], [-0.6659541130065918, -0.3136729598045349, -7.687587738037109], [-0.7306588888168335, -0.3136729598045349, -7.446106433868408], [-0.7953636646270752, -0.3136729598045349, -7.204625129699707], [-0.8600684404373169, -0.3136729598045349, -6.963143825531006], [-0.8600684404373169, -0.3136729598045349, -6.713143825531006], [-0.8600684404373169, -0.3136729598045349, -6.463143825531006], [-0.8600684404373169, -0.3136729598045349, -6.213143825531006], [-0.8600684404373169, -0.3136729598045349, -5.963143825531006], [-0.8600684404373169, -0.3136729598045349, -5.713143825531006], [-0.8600684404373169, -0.3136729598045349, -5.463143825531006], [-0.8600684404373169, -0.3136729598045349, -5.213143825531006], [-0.9247732162475586, -0.3136729598045349, -4.971662521362305], [-0.9894779920578003, -0.3136729598045349, -4.7301812171936035], [-0.9894779920578003, -0.3136729598045349, -4.4801812171936035], [-0.9894779920578003, -0.3136729598045349, -4.2301812171936035], [-0.9894779920578003, -0.3136729598045349, -3.9801812171936035], [-0.9894779920578003, -0.3136729598045349, -3.7301812171936035], [-0.9894779920578003, -0.3136729598045349, -3.4801812171936035]]", "gt_actions": "[2, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 3, 3, 1, 3, 3, 1, 2, 2, 2, 1, 1, 2, 1, 3, 1, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 430, "episode_id": "431", "scene_id": "sKLMLpTHeUy", "instruction": "walk away from closet, past sinks, turn right into bedroom, stop in front of doorway on right. ", "start_position": [5.5091400146484375, 0.1496591567993164, 0.5358859896659851], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [1.37677001953125, 0.1496591567993164, -1.7575099468231201], "goal_radius": 3.0, "reference_path": "[[5.5091400146484375, 0.1496591567993164, 0.5358859896659851], [4.882180213928223, 0.1496591567993164, 0.5221059918403625], [3.6389598846435547, 0.15781792998313904, 0.6123560070991516], [1.8189400434494019, 0.22308482229709625, 0.5812720060348511], [0.7951869964599609, 0.1496591567993164, -0.5993229746818542], [1.37677001953125, 0.1496591567993164, -1.7575099468231201]]", "geodesic_distance": 6.114081859588623, "gt_locations": "[[5.5091400146484375, 0.1496591567993164, 0.5358859896659851], [5.2591400146484375, 0.1496591567993164, 0.5358859896659851], [5.0091400146484375, 0.1496591567993164, 0.5358859896659851], [4.7591400146484375, 0.1496591567993164, 0.5358859896659851], [4.5091400146484375, 0.1496591567993164, 0.5358859896659851], [4.2591400146484375, 0.1496591567993164, 0.5358859896659851], [4.0091400146484375, 0.1496591567993164, 0.5358859896659851], [3.7591400146484375, 0.1496591567993164, 0.5358859896659851], [3.5091400146484375, 0.16336435079574585, 0.5358859896659851], [3.2591400146484375, 0.18278217315673828, 0.5358859896659851], [3.0091400146484375, 0.18278217315673828, 0.5358859896659851], [2.7591400146484375, 0.18457944691181183, 0.5358859896659851], [2.5091400146484375, 0.21355140209197998, 0.5358859896659851], [2.2591400146484375, 0.21355140209197998, 0.5358859896659851], [2.0426337718963623, 0.1943206489086151, 0.4108859896659851], [1.8261274099349976, 0.17447035014629364, 0.2858859896659851], [1.6096210479736328, 0.1496591567993164, 0.1608859896659851], [1.4328444004058838, 0.1496591567993164, -0.015890687704086304], [1.2560677528381348, 0.1496591567993164, -0.19266736507415771], [1.0792911052703857, 0.1496591567993164, -0.3694440424442291], [1.014586329460144, 0.1496591567993164, -0.6109254956245422], [1.053566336631775, 0.1496591567993164, -0.860981822013855], [1.1182711124420166, 0.1496591567993164, -1.1024632453918457], [1.1829758882522583, 0.1496591567993164, -1.3439446687698364]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 3, 3, 1, 1, 1, 0]"}
{"id": 431, "episode_id": "432", "scene_id": "sKLMLpTHeUy", "instruction": "Go straight through the bathroom through the door on the right toward the bedroom. Stop at the foot of the bed. ", "start_position": [5.5091400146484375, 0.1496591567993164, 0.5358859896659851], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [1.37677001953125, 0.1496591567993164, -1.7575099468231201], "goal_radius": 3.0, "reference_path": "[[5.5091400146484375, 0.1496591567993164, 0.5358859896659851], [4.882180213928223, 0.1496591567993164, 0.5221059918403625], [3.6389598846435547, 0.15781792998313904, 0.6123560070991516], [1.8189400434494019, 0.22308482229709625, 0.5812720060348511], [0.7951869964599609, 0.1496591567993164, -0.5993229746818542], [1.37677001953125, 0.1496591567993164, -1.7575099468231201]]", "geodesic_distance": 6.114081859588623, "gt_locations": "[[5.5091400146484375, 0.1496591567993164, 0.5358859896659851], [5.2591400146484375, 0.1496591567993164, 0.5358859896659851], [5.0091400146484375, 0.1496591567993164, 0.5358859896659851], [4.7591400146484375, 0.1496591567993164, 0.5358859896659851], [4.5091400146484375, 0.1496591567993164, 0.5358859896659851], [4.2591400146484375, 0.1496591567993164, 0.5358859896659851], [4.0091400146484375, 0.1496591567993164, 0.5358859896659851], [3.7591400146484375, 0.1496591567993164, 0.5358859896659851], [3.5091400146484375, 0.16336435079574585, 0.5358859896659851], [3.2591400146484375, 0.18278217315673828, 0.5358859896659851], [3.0091400146484375, 0.18278217315673828, 0.5358859896659851], [2.7591400146484375, 0.18457944691181183, 0.5358859896659851], [2.5091400146484375, 0.21355140209197998, 0.5358859896659851], [2.2591400146484375, 0.21355140209197998, 0.5358859896659851], [2.0426337718963623, 0.1943206489086151, 0.4108859896659851], [1.8261274099349976, 0.17447035014629364, 0.2858859896659851], [1.6096210479736328, 0.1496591567993164, 0.1608859896659851], [1.4328444004058838, 0.1496591567993164, -0.015890687704086304], [1.2560677528381348, 0.1496591567993164, -0.19266736507415771], [1.0792911052703857, 0.1496591567993164, -0.3694440424442291], [1.014586329460144, 0.1496591567993164, -0.6109254956245422], [1.053566336631775, 0.1496591567993164, -0.860981822013855], [1.1182711124420166, 0.1496591567993164, -1.1024632453918457], [1.1829758882522583, 0.1496591567993164, -1.3439446687698364]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 3, 3, 1, 1, 1, 0]"}
{"id": 432, "episode_id": "433", "scene_id": "sKLMLpTHeUy", "instruction": "Walk through the bathroom and out of the door into the bedroom. Stand at the corner of the rug next to the doorway to the hallway. ", "start_position": [5.5091400146484375, 0.1496591567993164, 0.5358859896659851], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [1.37677001953125, 0.1496591567993164, -1.7575099468231201], "goal_radius": 3.0, "reference_path": "[[5.5091400146484375, 0.1496591567993164, 0.5358859896659851], [4.882180213928223, 0.1496591567993164, 0.5221059918403625], [3.6389598846435547, 0.15781792998313904, 0.6123560070991516], [1.8189400434494019, 0.22308482229709625, 0.5812720060348511], [0.7951869964599609, 0.1496591567993164, -0.5993229746818542], [1.37677001953125, 0.1496591567993164, -1.7575099468231201]]", "geodesic_distance": 6.114081859588623, "gt_locations": "[[5.5091400146484375, 0.1496591567993164, 0.5358859896659851], [5.2591400146484375, 0.1496591567993164, 0.5358859896659851], [5.0091400146484375, 0.1496591567993164, 0.5358859896659851], [4.7591400146484375, 0.1496591567993164, 0.5358859896659851], [4.5091400146484375, 0.1496591567993164, 0.5358859896659851], [4.2591400146484375, 0.1496591567993164, 0.5358859896659851], [4.0091400146484375, 0.1496591567993164, 0.5358859896659851], [3.7591400146484375, 0.1496591567993164, 0.5358859896659851], [3.5091400146484375, 0.16336435079574585, 0.5358859896659851], [3.2591400146484375, 0.18278217315673828, 0.5358859896659851], [3.0091400146484375, 0.18278217315673828, 0.5358859896659851], [2.7591400146484375, 0.18457944691181183, 0.5358859896659851], [2.5091400146484375, 0.21355140209197998, 0.5358859896659851], [2.2591400146484375, 0.21355140209197998, 0.5358859896659851], [2.0426337718963623, 0.1943206489086151, 0.4108859896659851], [1.8261274099349976, 0.17447035014629364, 0.2858859896659851], [1.6096210479736328, 0.1496591567993164, 0.1608859896659851], [1.4328444004058838, 0.1496591567993164, -0.015890687704086304], [1.2560677528381348, 0.1496591567993164, -0.19266736507415771], [1.0792911052703857, 0.1496591567993164, -0.3694440424442291], [1.014586329460144, 0.1496591567993164, -0.6109254956245422], [1.053566336631775, 0.1496591567993164, -0.860981822013855], [1.1182711124420166, 0.1496591567993164, -1.1024632453918457], [1.1829758882522583, 0.1496591567993164, -1.3439446687698364]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 3, 3, 1, 1, 1, 0]"}
{"id": 433, "episode_id": "434", "scene_id": "VzqfbhrpDEA", "instruction": "Exit the shower. Go straight to exit the bathroom. Turn right and exit the room. Turn left and then turn right. Wait near the sink. ", "start_position": [-20.50670051574707, 3.691009044647217, -5.6942901611328125], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-11.366299629211426, 3.491008996963501, -2.854749917984009], "goal_radius": 3.0, "reference_path": "[[-20.50670051574707, 3.691009044647217, -5.6942901611328125], [-19.468799591064453, 3.5138988494873047, -6.062099933624268], [-17.973600387573242, 3.491008996963501, -6.233839988708496], [-16.94969940185547, 3.491008996963501, -6.038390159606934], [-14.925100326538086, 3.491008996963501, -4.643189907073975], [-11.348699569702148, 3.491008996963501, -4.047070026397705], [-11.366299629211426, 3.491008996963501, -2.854749917984009]]", "geodesic_distance": 10.178311347961426, "gt_locations": "[[-20.50670051574707, 3.691009044647217, -5.6942901611328125], [-20.26521873474121, 3.577972173690796, -5.758995056152344], [-20.02373695373535, 3.60719895362854, -5.823699951171875], [-19.782255172729492, 3.691009044647217, -5.888404846191406], [-19.540773391723633, 3.5795083045959473, -5.9531097412109375], [-19.299291610717773, 3.502699851989746, -6.017814636230469], [-19.057809829711914, 3.491008996963501, -6.08251953125], [-18.816328048706055, 3.491008996963501, -6.147224426269531], [-18.574846267700195, 3.491008996963501, -6.2119293212890625], [-18.324846267700195, 3.491008996963501, -6.2119293212890625], [-18.074846267700195, 3.491008996963501, -6.2119293212890625], [-17.833364486694336, 3.491008996963501, -6.147224426269531], [-17.591882705688477, 3.491008996963501, -6.08251953125], [-17.350400924682617, 3.491008996963501, -6.017814636230469], [-17.108919143676758, 3.491008996963501, -5.9531097412109375], [-16.892412185668945, 3.491008996963501, -5.8281097412109375], [-16.650930404663086, 3.491008996963501, -5.763404846191406], [-16.409448623657227, 3.491008996963501, -5.698699951171875], [-16.167966842651367, 3.491008996963501, -5.633995056152344], [-15.951460838317871, 3.491008996963501, -5.508995056152344], [-15.774683952331543, 3.491008996963501, -5.332218170166016], [-15.558177947998047, 3.491008996963501, -5.207218170166016], [-15.34167194366455, 3.491008996963501, -5.082218170166016], [-15.164895057678223, 3.491008996963501, -4.9054412841796875], [-14.988118171691895, 3.491008996963501, -4.728664398193359], [-14.738118171691895, 3.491008996963501, -4.64647102355957], [-14.496636390686035, 3.491008996963501, -4.581766128540039], [-14.246636390686035, 3.491008996963501, -4.546472549438477], [-13.996636390686035, 3.491008996963501, -4.546472549438477], [-13.755154609680176, 3.491008996963501, -4.481767654418945], [-13.513672828674316, 3.491008996963501, -4.417062759399414], [-13.272191047668457, 3.491008996963501, -4.352357864379883], [-13.030709266662598, 3.491008996963501, -4.287652969360352], [-12.789227485656738, 3.491008996963501, -4.22294807434082], [-12.547745704650879, 3.491008996963501, -4.158243179321289], [-12.297745704650879, 3.491008996963501, -4.158243179321289], [-12.047745704650879, 3.491008996963501, -4.158243179321289], [-11.797745704650879, 3.491008996963501, -4.158243179321289], [-11.733040809631348, 3.491008996963501, -3.916761636734009], [-11.668335914611816, 3.491008996963501, -3.6752800941467285], [-11.543335914611816, 3.491008996963501, -3.458773612976074], [-11.48455810546875, 3.491008996963501, -3.208773612976074]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 3, 1, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 3, 1, 0]"}
{"id": 434, "episode_id": "435", "scene_id": "VzqfbhrpDEA", "instruction": "Exit the shower and out of the bathroom into the home theater.  Exit theater to the right and follow the carpet to reach the other bathroom on the right. ", "start_position": [-20.50670051574707, 3.691009044647217, -5.6942901611328125], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-11.366299629211426, 3.491008996963501, -2.854749917984009], "goal_radius": 3.0, "reference_path": "[[-20.50670051574707, 3.691009044647217, -5.6942901611328125], [-19.468799591064453, 3.5138988494873047, -6.062099933624268], [-17.973600387573242, 3.491008996963501, -6.233839988708496], [-16.94969940185547, 3.491008996963501, -6.038390159606934], [-14.925100326538086, 3.491008996963501, -4.643189907073975], [-11.348699569702148, 3.491008996963501, -4.047070026397705], [-11.366299629211426, 3.491008996963501, -2.854749917984009]]", "geodesic_distance": 10.178311347961426, "gt_locations": "[[-20.50670051574707, 3.691009044647217, -5.6942901611328125], [-20.26521873474121, 3.577972173690796, -5.758995056152344], [-20.02373695373535, 3.60719895362854, -5.823699951171875], [-19.782255172729492, 3.691009044647217, -5.888404846191406], [-19.540773391723633, 3.5795083045959473, -5.9531097412109375], [-19.299291610717773, 3.502699851989746, -6.017814636230469], [-19.057809829711914, 3.491008996963501, -6.08251953125], [-18.816328048706055, 3.491008996963501, -6.147224426269531], [-18.574846267700195, 3.491008996963501, -6.2119293212890625], [-18.324846267700195, 3.491008996963501, -6.2119293212890625], [-18.074846267700195, 3.491008996963501, -6.2119293212890625], [-17.833364486694336, 3.491008996963501, -6.147224426269531], [-17.591882705688477, 3.491008996963501, -6.08251953125], [-17.350400924682617, 3.491008996963501, -6.017814636230469], [-17.108919143676758, 3.491008996963501, -5.9531097412109375], [-16.892412185668945, 3.491008996963501, -5.8281097412109375], [-16.650930404663086, 3.491008996963501, -5.763404846191406], [-16.409448623657227, 3.491008996963501, -5.698699951171875], [-16.167966842651367, 3.491008996963501, -5.633995056152344], [-15.951460838317871, 3.491008996963501, -5.508995056152344], [-15.774683952331543, 3.491008996963501, -5.332218170166016], [-15.558177947998047, 3.491008996963501, -5.207218170166016], [-15.34167194366455, 3.491008996963501, -5.082218170166016], [-15.164895057678223, 3.491008996963501, -4.9054412841796875], [-14.988118171691895, 3.491008996963501, -4.728664398193359], [-14.738118171691895, 3.491008996963501, -4.64647102355957], [-14.496636390686035, 3.491008996963501, -4.581766128540039], [-14.246636390686035, 3.491008996963501, -4.546472549438477], [-13.996636390686035, 3.491008996963501, -4.546472549438477], [-13.755154609680176, 3.491008996963501, -4.481767654418945], [-13.513672828674316, 3.491008996963501, -4.417062759399414], [-13.272191047668457, 3.491008996963501, -4.352357864379883], [-13.030709266662598, 3.491008996963501, -4.287652969360352], [-12.789227485656738, 3.491008996963501, -4.22294807434082], [-12.547745704650879, 3.491008996963501, -4.158243179321289], [-12.297745704650879, 3.491008996963501, -4.158243179321289], [-12.047745704650879, 3.491008996963501, -4.158243179321289], [-11.797745704650879, 3.491008996963501, -4.158243179321289], [-11.733040809631348, 3.491008996963501, -3.916761636734009], [-11.668335914611816, 3.491008996963501, -3.6752800941467285], [-11.543335914611816, 3.491008996963501, -3.458773612976074], [-11.48455810546875, 3.491008996963501, -3.208773612976074]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 3, 1, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 3, 1, 0]"}
{"id": 435, "episode_id": "436", "scene_id": "VzqfbhrpDEA", "instruction": "Exit the shower and enter the theater room.  Then turn right and walk into the hallway. Proceed down the hallway and enter the bath room on your right.  Wait near the sink. ", "start_position": [-20.50670051574707, 3.691009044647217, -5.6942901611328125], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-11.366299629211426, 3.491008996963501, -2.854749917984009], "goal_radius": 3.0, "reference_path": "[[-20.50670051574707, 3.691009044647217, -5.6942901611328125], [-19.468799591064453, 3.5138988494873047, -6.062099933624268], [-17.973600387573242, 3.491008996963501, -6.233839988708496], [-16.94969940185547, 3.491008996963501, -6.038390159606934], [-14.925100326538086, 3.491008996963501, -4.643189907073975], [-11.348699569702148, 3.491008996963501, -4.047070026397705], [-11.366299629211426, 3.491008996963501, -2.854749917984009]]", "geodesic_distance": 10.178311347961426, "gt_locations": "[[-20.50670051574707, 3.691009044647217, -5.6942901611328125], [-20.26521873474121, 3.577972173690796, -5.758995056152344], [-20.02373695373535, 3.60719895362854, -5.823699951171875], [-19.782255172729492, 3.691009044647217, -5.888404846191406], [-19.540773391723633, 3.5795083045959473, -5.9531097412109375], [-19.299291610717773, 3.502699851989746, -6.017814636230469], [-19.057809829711914, 3.491008996963501, -6.08251953125], [-18.816328048706055, 3.491008996963501, -6.147224426269531], [-18.574846267700195, 3.491008996963501, -6.2119293212890625], [-18.324846267700195, 3.491008996963501, -6.2119293212890625], [-18.074846267700195, 3.491008996963501, -6.2119293212890625], [-17.833364486694336, 3.491008996963501, -6.147224426269531], [-17.591882705688477, 3.491008996963501, -6.08251953125], [-17.350400924682617, 3.491008996963501, -6.017814636230469], [-17.108919143676758, 3.491008996963501, -5.9531097412109375], [-16.892412185668945, 3.491008996963501, -5.8281097412109375], [-16.650930404663086, 3.491008996963501, -5.763404846191406], [-16.409448623657227, 3.491008996963501, -5.698699951171875], [-16.167966842651367, 3.491008996963501, -5.633995056152344], [-15.951460838317871, 3.491008996963501, -5.508995056152344], [-15.774683952331543, 3.491008996963501, -5.332218170166016], [-15.558177947998047, 3.491008996963501, -5.207218170166016], [-15.34167194366455, 3.491008996963501, -5.082218170166016], [-15.164895057678223, 3.491008996963501, -4.9054412841796875], [-14.988118171691895, 3.491008996963501, -4.728664398193359], [-14.738118171691895, 3.491008996963501, -4.64647102355957], [-14.496636390686035, 3.491008996963501, -4.581766128540039], [-14.246636390686035, 3.491008996963501, -4.546472549438477], [-13.996636390686035, 3.491008996963501, -4.546472549438477], [-13.755154609680176, 3.491008996963501, -4.481767654418945], [-13.513672828674316, 3.491008996963501, -4.417062759399414], [-13.272191047668457, 3.491008996963501, -4.352357864379883], [-13.030709266662598, 3.491008996963501, -4.287652969360352], [-12.789227485656738, 3.491008996963501, -4.22294807434082], [-12.547745704650879, 3.491008996963501, -4.158243179321289], [-12.297745704650879, 3.491008996963501, -4.158243179321289], [-12.047745704650879, 3.491008996963501, -4.158243179321289], [-11.797745704650879, 3.491008996963501, -4.158243179321289], [-11.733040809631348, 3.491008996963501, -3.916761636734009], [-11.668335914611816, 3.491008996963501, -3.6752800941467285], [-11.543335914611816, 3.491008996963501, -3.458773612976074], [-11.48455810546875, 3.491008996963501, -3.208773612976074]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 3, 1, 3, 1, 2, 1, 1, 3, 1, 1, 2, 2, 2, 1, 3, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 2, 1, 3, 3, 1, 0]"}
{"id": 436, "episode_id": "437", "scene_id": "VFuaQ6m2Qom", "instruction": "Turn around and walk toward the closet, veering to the right to go down the hall. Stop in the open glass doorway. ", "start_position": [-11.0600004196167, 4.478068828582764, -17.379499435424805], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-12.097800254821777, 4.45781946182251, -9.133119583129883], "goal_radius": 3.0, "reference_path": "[[-11.0600004196167, 4.478068828582764, -17.379499435424805], [-9.8571195602417, 4.469219207763672, -15.216899871826172], [-10.590999603271484, 4.45781946182251, -12.109399795532227], [-12.092499732971191, 4.45781946182251, -11.718999862670898], [-12.097800254821777, 4.45781946182251, -9.133119583129883]]", "geodesic_distance": 8.61743450164795, "gt_locations": "[[-11.0600004196167, 4.478068828582764, -17.379499435424805], [-10.9350004196167, 4.495035171508789, -17.162992477416992], [-10.8100004196167, 4.510807991027832, -16.94648551940918], [-10.6850004196167, 4.528824806213379, -16.729978561401367], [-10.5600004196167, 4.546841621398926, -16.513471603393555], [-10.4350004196167, 4.5603461265563965, -16.296964645385742], [-10.3100004196167, 4.573818683624268, -16.08045768737793], [-10.1850004196167, 4.561039447784424, -15.863951683044434], [-10.0600004196167, 4.52894926071167, -15.647445678710938], [-10.0600004196167, 4.504795074462891, -15.397445678710938], [-10.0600004196167, 4.480640411376953, -15.147445678710938], [-10.0600004196167, 4.45781946182251, -14.897445678710938], [-10.12470531463623, 4.45781946182251, -14.655963897705078], [-10.189410209655762, 4.45781946182251, -14.414482116699219], [-10.254115104675293, 4.45781946182251, -14.17300033569336], [-10.318819999694824, 4.45781946182251, -13.9315185546875], [-10.383524894714355, 4.45781946182251, -13.69003677368164], [-10.448229789733887, 4.45781946182251, -13.448554992675781], [-10.448229789733887, 4.45781946182251, -13.198554992675781], [-10.448229789733887, 4.45781946182251, -12.948554992675781], [-10.512934684753418, 4.45781946182251, -12.707073211669922], [-10.57763957977295, 4.45781946182251, -12.465591430664062], [-10.794145584106445, 4.45781946182251, -12.340591430664062], [-11.010651588439941, 4.45781946182251, -12.215591430664062], [-11.227157592773438, 4.45781946182251, -12.090591430664062], [-11.443663597106934, 4.45781946182251, -11.965591430664062], [-11.66016960144043, 4.45781946182251, -11.840591430664062], [-11.724874496459961, 4.45781946182251, -11.599109649658203], [-11.789579391479492, 4.45781946182251, -11.357627868652344], [-11.854284286499023, 4.45781946182251, -11.116146087646484], [-11.918989181518555, 4.45781946182251, -10.874664306640625], [-11.983694076538086, 4.45781946182251, -10.633182525634766], [-11.983694076538086, 4.45781946182251, -10.383182525634766], [-11.983694076538086, 4.45781946182251, -10.133182525634766], [-11.983694076538086, 4.45781946182251, -9.883182525634766], [-11.983694076538086, 4.45781946182251, -9.633182525634766], [-12.048398971557617, 4.45781946182251, -9.391700744628906]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 437, "episode_id": "438", "scene_id": "VFuaQ6m2Qom", "instruction": "Exit bedroom, turn left and stop at double glass doors near stairs. ", "start_position": [-11.0600004196167, 4.478068828582764, -17.379499435424805], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-12.097800254821777, 4.45781946182251, -9.133119583129883], "goal_radius": 3.0, "reference_path": "[[-11.0600004196167, 4.478068828582764, -17.379499435424805], [-9.8571195602417, 4.469219207763672, -15.216899871826172], [-10.590999603271484, 4.45781946182251, -12.109399795532227], [-12.092499732971191, 4.45781946182251, -11.718999862670898], [-12.097800254821777, 4.45781946182251, -9.133119583129883]]", "geodesic_distance": 8.61743450164795, "gt_locations": "[[-11.0600004196167, 4.478068828582764, -17.379499435424805], [-10.9350004196167, 4.495035171508789, -17.162992477416992], [-10.8100004196167, 4.510807991027832, -16.94648551940918], [-10.6850004196167, 4.528824806213379, -16.729978561401367], [-10.5600004196167, 4.546841621398926, -16.513471603393555], [-10.4350004196167, 4.5603461265563965, -16.296964645385742], [-10.3100004196167, 4.573818683624268, -16.08045768737793], [-10.1850004196167, 4.561039447784424, -15.863951683044434], [-10.0600004196167, 4.52894926071167, -15.647445678710938], [-10.0600004196167, 4.504795074462891, -15.397445678710938], [-10.0600004196167, 4.480640411376953, -15.147445678710938], [-10.0600004196167, 4.45781946182251, -14.897445678710938], [-10.12470531463623, 4.45781946182251, -14.655963897705078], [-10.189410209655762, 4.45781946182251, -14.414482116699219], [-10.254115104675293, 4.45781946182251, -14.17300033569336], [-10.318819999694824, 4.45781946182251, -13.9315185546875], [-10.383524894714355, 4.45781946182251, -13.69003677368164], [-10.448229789733887, 4.45781946182251, -13.448554992675781], [-10.448229789733887, 4.45781946182251, -13.198554992675781], [-10.448229789733887, 4.45781946182251, -12.948554992675781], [-10.512934684753418, 4.45781946182251, -12.707073211669922], [-10.57763957977295, 4.45781946182251, -12.465591430664062], [-10.794145584106445, 4.45781946182251, -12.340591430664062], [-11.010651588439941, 4.45781946182251, -12.215591430664062], [-11.227157592773438, 4.45781946182251, -12.090591430664062], [-11.443663597106934, 4.45781946182251, -11.965591430664062], [-11.66016960144043, 4.45781946182251, -11.840591430664062], [-11.724874496459961, 4.45781946182251, -11.599109649658203], [-11.789579391479492, 4.45781946182251, -11.357627868652344], [-11.854284286499023, 4.45781946182251, -11.116146087646484], [-11.918989181518555, 4.45781946182251, -10.874664306640625], [-11.983694076538086, 4.45781946182251, -10.633182525634766], [-11.983694076538086, 4.45781946182251, -10.383182525634766], [-11.983694076538086, 4.45781946182251, -10.133182525634766], [-11.983694076538086, 4.45781946182251, -9.883182525634766], [-11.983694076538086, 4.45781946182251, -9.633182525634766], [-12.048398971557617, 4.45781946182251, -9.391700744628906]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 438, "episode_id": "439", "scene_id": "VFuaQ6m2Qom", "instruction": "Leave the bedroom, and take a left. Stop before you exit through the ornate glass doors. ", "start_position": [-11.0600004196167, 4.478068828582764, -17.379499435424805], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-12.097800254821777, 4.45781946182251, -9.133119583129883], "goal_radius": 3.0, "reference_path": "[[-11.0600004196167, 4.478068828582764, -17.379499435424805], [-9.8571195602417, 4.469219207763672, -15.216899871826172], [-10.590999603271484, 4.45781946182251, -12.109399795532227], [-12.092499732971191, 4.45781946182251, -11.718999862670898], [-12.097800254821777, 4.45781946182251, -9.133119583129883]]", "geodesic_distance": 8.61743450164795, "gt_locations": "[[-11.0600004196167, 4.478068828582764, -17.379499435424805], [-10.9350004196167, 4.495035171508789, -17.162992477416992], [-10.8100004196167, 4.510807991027832, -16.94648551940918], [-10.6850004196167, 4.528824806213379, -16.729978561401367], [-10.5600004196167, 4.546841621398926, -16.513471603393555], [-10.4350004196167, 4.5603461265563965, -16.296964645385742], [-10.3100004196167, 4.573818683624268, -16.08045768737793], [-10.1850004196167, 4.561039447784424, -15.863951683044434], [-10.0600004196167, 4.52894926071167, -15.647445678710938], [-10.0600004196167, 4.504795074462891, -15.397445678710938], [-10.0600004196167, 4.480640411376953, -15.147445678710938], [-10.0600004196167, 4.45781946182251, -14.897445678710938], [-10.12470531463623, 4.45781946182251, -14.655963897705078], [-10.189410209655762, 4.45781946182251, -14.414482116699219], [-10.254115104675293, 4.45781946182251, -14.17300033569336], [-10.318819999694824, 4.45781946182251, -13.9315185546875], [-10.383524894714355, 4.45781946182251, -13.69003677368164], [-10.448229789733887, 4.45781946182251, -13.448554992675781], [-10.448229789733887, 4.45781946182251, -13.198554992675781], [-10.448229789733887, 4.45781946182251, -12.948554992675781], [-10.512934684753418, 4.45781946182251, -12.707073211669922], [-10.57763957977295, 4.45781946182251, -12.465591430664062], [-10.794145584106445, 4.45781946182251, -12.340591430664062], [-11.010651588439941, 4.45781946182251, -12.215591430664062], [-11.227157592773438, 4.45781946182251, -12.090591430664062], [-11.443663597106934, 4.45781946182251, -11.965591430664062], [-11.66016960144043, 4.45781946182251, -11.840591430664062], [-11.724874496459961, 4.45781946182251, -11.599109649658203], [-11.789579391479492, 4.45781946182251, -11.357627868652344], [-11.854284286499023, 4.45781946182251, -11.116146087646484], [-11.918989181518555, 4.45781946182251, -10.874664306640625], [-11.983694076538086, 4.45781946182251, -10.633182525634766], [-11.983694076538086, 4.45781946182251, -10.383182525634766], [-11.983694076538086, 4.45781946182251, -10.133182525634766], [-11.983694076538086, 4.45781946182251, -9.883182525634766], [-11.983694076538086, 4.45781946182251, -9.633182525634766], [-12.048398971557617, 4.45781946182251, -9.391700744628906]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 439, "episode_id": "440", "scene_id": "jh4fc5c5qoQ", "instruction": "Exit the room and go down the hall to the kitchen. Wait in front of the love seat, by the window. ", "start_position": [11.704099655151367, 0.005573004484176636, -8.370369911193848], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "goal_radius": 3.0, "reference_path": "[[11.704099655151367, 0.005573004484176636, -8.370369911193848], [11.621800422668457, 0.005573004484176636, -6.667550086975098], [11.555000305175781, 0.005573004484176636, -6.074689865112305], [11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.731300354003906, 0.005573004484176636, -2.8359999656677246], [14.178600311279297, 0.21307897567749023, -2.5309500694274902]]", "geodesic_distance": 7.648097038269043, "gt_locations": "[[11.704099655151367, 0.005573004484176636, -8.370369911193848], [11.704099655151367, 0.005573004484176636, -8.120369911193848], [11.704099655151367, 0.005573004484176636, -7.870369911193848], [11.704099655151367, 0.005573004484176636, -7.620369911193848], [11.704099655151367, 0.005573004484176636, -7.370369911193848], [11.704099655151367, 0.005573004484176636, -7.120369911193848], [11.704099655151367, 0.005573004484176636, -6.870369911193848], [11.639394760131836, 0.005573004484176636, -6.6288886070251465], [11.574689865112305, 0.005573004484176636, -6.387407302856445], [11.574689865112305, 0.005573004484176636, -6.137407302856445], [11.574689865112305, 0.005573004484176636, -5.887407302856445], [11.639394760131836, 0.005573004484176636, -5.645925998687744], [11.704099655151367, 0.005573004484176636, -5.404444694519043], [11.768804550170898, 0.005573004484176636, -5.162963390350342], [11.768804550170898, 0.005573004484176636, -4.912963390350342], [11.768804550170898, 0.005573004484176636, -4.662963390350342], [11.768804550170898, 0.005573004484176636, -4.412963390350342], [11.768804550170898, 0.005573004484176636, -4.162963390350342], [11.768804550170898, 0.005573004484176636, -3.912963390350342], [11.768804550170898, 0.005573004484176636, -3.662963390350342], [11.768804550170898, 0.005573004484176636, -3.412963390350342], [11.768804550170898, 0.005573004484176636, -3.162963390350342], [11.945581436157227, 0.005573004484176636, -2.9861867427825928], [12.162087440490723, 0.005573004484176636, -2.8611867427825928], [12.378593444824219, 0.02823682501912117, -2.7361867427825928], [12.595099449157715, 0.016832800582051277, -2.591442584991455], [12.845099449157715, 0.051315538585186005, -2.591442584991455], [13.095099449157715, 0.08579827845096588, -2.591442584991455], [13.345099449157715, 0.12028101086616516, -2.591442584991455], [13.595099449157715, 0.15476375818252563, -2.591442584991455], [13.845099449157715, 0.1892465054988861, -2.591442584991455]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 440, "episode_id": "441", "scene_id": "jh4fc5c5qoQ", "instruction": "Exit through bedroom door. Walk towards striped chair.  Wait by sofa. ", "start_position": [11.704099655151367, 0.005573004484176636, -8.370369911193848], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "goal_radius": 3.0, "reference_path": "[[11.704099655151367, 0.005573004484176636, -8.370369911193848], [11.621800422668457, 0.005573004484176636, -6.667550086975098], [11.555000305175781, 0.005573004484176636, -6.074689865112305], [11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.731300354003906, 0.005573004484176636, -2.8359999656677246], [14.178600311279297, 0.21307897567749023, -2.5309500694274902]]", "geodesic_distance": 7.648097038269043, "gt_locations": "[[11.704099655151367, 0.005573004484176636, -8.370369911193848], [11.704099655151367, 0.005573004484176636, -8.120369911193848], [11.704099655151367, 0.005573004484176636, -7.870369911193848], [11.704099655151367, 0.005573004484176636, -7.620369911193848], [11.704099655151367, 0.005573004484176636, -7.370369911193848], [11.704099655151367, 0.005573004484176636, -7.120369911193848], [11.704099655151367, 0.005573004484176636, -6.870369911193848], [11.639394760131836, 0.005573004484176636, -6.6288886070251465], [11.574689865112305, 0.005573004484176636, -6.387407302856445], [11.574689865112305, 0.005573004484176636, -6.137407302856445], [11.574689865112305, 0.005573004484176636, -5.887407302856445], [11.639394760131836, 0.005573004484176636, -5.645925998687744], [11.704099655151367, 0.005573004484176636, -5.404444694519043], [11.768804550170898, 0.005573004484176636, -5.162963390350342], [11.768804550170898, 0.005573004484176636, -4.912963390350342], [11.768804550170898, 0.005573004484176636, -4.662963390350342], [11.768804550170898, 0.005573004484176636, -4.412963390350342], [11.768804550170898, 0.005573004484176636, -4.162963390350342], [11.768804550170898, 0.005573004484176636, -3.912963390350342], [11.768804550170898, 0.005573004484176636, -3.662963390350342], [11.768804550170898, 0.005573004484176636, -3.412963390350342], [11.768804550170898, 0.005573004484176636, -3.162963390350342], [11.945581436157227, 0.005573004484176636, -2.9861867427825928], [12.162087440490723, 0.005573004484176636, -2.8611867427825928], [12.378593444824219, 0.02823682501912117, -2.7361867427825928], [12.595099449157715, 0.016832800582051277, -2.591442584991455], [12.845099449157715, 0.051315538585186005, -2.591442584991455], [13.095099449157715, 0.08579827845096588, -2.591442584991455], [13.345099449157715, 0.12028101086616516, -2.591442584991455], [13.595099449157715, 0.15476375818252563, -2.591442584991455], [13.845099449157715, 0.1892465054988861, -2.591442584991455]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 441, "episode_id": "442", "scene_id": "jh4fc5c5qoQ", "instruction": "Leave the bedroom, and enter the kitchen. Walk forward, and take a left at the couch. Stop in front of the window. ", "start_position": [11.704099655151367, 0.005573004484176636, -8.370369911193848], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [14.178600311279297, 0.21307897567749023, -2.5309500694274902], "goal_radius": 3.0, "reference_path": "[[11.704099655151367, 0.005573004484176636, -8.370369911193848], [11.621800422668457, 0.005573004484176636, -6.667550086975098], [11.555000305175781, 0.005573004484176636, -6.074689865112305], [11.826700210571289, 0.005573004484176636, -4.506340026855469], [11.731300354003906, 0.005573004484176636, -2.8359999656677246], [14.178600311279297, 0.21307897567749023, -2.5309500694274902]]", "geodesic_distance": 7.648097038269043, "gt_locations": "[[11.704099655151367, 0.005573004484176636, -8.370369911193848], [11.704099655151367, 0.005573004484176636, -8.120369911193848], [11.704099655151367, 0.005573004484176636, -7.870369911193848], [11.704099655151367, 0.005573004484176636, -7.620369911193848], [11.704099655151367, 0.005573004484176636, -7.370369911193848], [11.704099655151367, 0.005573004484176636, -7.120369911193848], [11.704099655151367, 0.005573004484176636, -6.870369911193848], [11.639394760131836, 0.005573004484176636, -6.6288886070251465], [11.574689865112305, 0.005573004484176636, -6.387407302856445], [11.574689865112305, 0.005573004484176636, -6.137407302856445], [11.574689865112305, 0.005573004484176636, -5.887407302856445], [11.639394760131836, 0.005573004484176636, -5.645925998687744], [11.704099655151367, 0.005573004484176636, -5.404444694519043], [11.768804550170898, 0.005573004484176636, -5.162963390350342], [11.768804550170898, 0.005573004484176636, -4.912963390350342], [11.768804550170898, 0.005573004484176636, -4.662963390350342], [11.768804550170898, 0.005573004484176636, -4.412963390350342], [11.768804550170898, 0.005573004484176636, -4.162963390350342], [11.768804550170898, 0.005573004484176636, -3.912963390350342], [11.768804550170898, 0.005573004484176636, -3.662963390350342], [11.768804550170898, 0.005573004484176636, -3.412963390350342], [11.768804550170898, 0.005573004484176636, -3.162963390350342], [11.945581436157227, 0.005573004484176636, -2.9861867427825928], [12.162087440490723, 0.005573004484176636, -2.8611867427825928], [12.378593444824219, 0.02823682501912117, -2.7361867427825928], [12.595099449157715, 0.016832800582051277, -2.591442584991455], [12.845099449157715, 0.051315538585186005, -2.591442584991455], [13.095099449157715, 0.08579827845096588, -2.591442584991455], [13.345099449157715, 0.12028101086616516, -2.591442584991455], [13.595099449157715, 0.15476375818252563, -2.591442584991455], [13.845099449157715, 0.1892465054988861, -2.591442584991455]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 442, "episode_id": "443", "scene_id": "S9hNv5qa7GM", "instruction": "Turn around and exit the door to your right. Once out, turn left and walk across the kitchen. Turn right into the dining room and out the other side. Once out turn left and walk to the first door on your right. Stop once you enter the bedroom. ", "start_position": [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-9.451600074768066, 0.11627800017595291, -2.249300003051758], "goal_radius": 3.0, "reference_path": "[[-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.8912500143051147, 0.11627800017595291, 3.9404499530792236], [-5.307839870452881, 0.11627800017595291, 1.6481599807739258], [-6.856790065765381, 0.11627800017595291, -0.26534798741340637], [-7.20999002456665, 0.11627800017595291, -1.6454399824142456], [-9.451600074768066, 0.11627800017595291, -2.249300003051758]]", "geodesic_distance": 12.069669723510742, "gt_locations": "[[-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-0.6114839911460876, 0.11627800017595291, 5.226439952850342], [-0.8614839911460876, 0.11627800017595291, 5.226439952850342], [-1.1114840507507324, 0.11627800017595291, 5.226439952850342], [-1.3529654741287231, 0.11627800017595291, 5.1617350578308105], [-1.4779654741287231, 0.11627800017595291, 4.945228576660156], [-1.6029654741287231, 0.11627800017595291, 4.728722095489502], [-1.6676702499389648, 0.11627800017595291, 4.487240791320801], [-1.7926702499389648, 0.11627800017595291, 4.2707343101501465], [-1.9176702499389648, 0.11627800017595291, 4.054227828979492], [-2.042670249938965, 0.11627800017595291, 3.837721586227417], [-2.167670249938965, 0.11627800017595291, 3.621215343475342], [-2.232375144958496, 0.11627800017595291, 3.3797338008880615], [-2.406998872756958, 0.11627800017595291, 3.200265884399414], [-2.6484804153442383, 0.11627800017595291, 3.105341911315918], [-2.8649868965148926, 0.11627800017595291, 2.980341911315918], [-3.081493377685547, 0.11627800017595291, 2.855341911315918], [-3.297999858856201, 0.11627800017595291, 2.730341911315918], [-3.5145063400268555, 0.11627800017595291, 2.605341911315918], [-3.7310128211975098, 0.11627800017595291, 2.480341911315918], [-3.947519302368164, 0.11627800017595291, 2.355341911315918], [-4.164025783538818, 0.11627800017595291, 2.230341911315918], [-4.380532264709473, 0.11627800017595291, 2.105341911315918], [-4.597038745880127, 0.11627800017595291, 1.980341911315918], [-4.813545227050781, 0.11627800017595291, 1.855341911315918], [-5.0300517082214355, 0.11627800017595291, 1.730341911315918], [-5.24655818939209, 0.11627800017595291, 1.605341911315918], [-5.423335075378418, 0.11627800017595291, 1.428565263748169], [-5.639841556549072, 0.11627800017595291, 1.303565263748169], [-5.8166184425354, 0.11627800017595291, 1.12678861618042], [-5.967426776885986, 0.11627800017595291, 0.9059809446334839], [-6.1442036628723145, 0.11627800017595291, 0.7292042970657349], [-6.320980548858643, 0.11627800017595291, 0.5524276494979858], [-6.445980548858643, 0.11627800017595291, 0.3359213173389435], [-6.570980548858643, 0.11627800017595291, 0.11941498517990112], [-6.635685443878174, 0.11627800017595291, -0.12206646800041199], [-6.700390338897705, 0.11627800017595291, -0.3635479211807251], [-6.765095233917236, 0.11627800017595291, -0.6050293445587158], [-6.829800128936768, 0.11627800017595291, -0.8465107679367065], [-6.954800128936768, 0.11627800017595291, -1.0630171298980713], [-7.079800128936768, 0.11627800017595291, -1.279523491859436], [-7.296306610107422, 0.11627800017595291, -1.404523491859436], [-7.512813091278076, 0.11627800017595291, -1.529523491859436], [-7.754294395446777, 0.11627800017595291, -1.5942282676696777], [-7.9957756996154785, 0.11627800017595291, -1.6589330434799194], [-8.23725700378418, 0.11627800017595291, -1.7236378192901611], [-8.478738784790039, 0.11627800017595291, -1.7883425951004028], [-8.720220565795898, 0.11627800017595291, -1.8530473709106445], [-8.936726570129395, 0.11627800017595291, -1.9780473709106445], [-9.15323257446289, 0.11627800017595291, -2.1030473709106445]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 443, "episode_id": "444", "scene_id": "S9hNv5qa7GM", "instruction": "Turn to the right and then take your next right. Turn left in the kitchen and pass the kitchen table. Then turn right and take your next immediate left and stop in the door. ", "start_position": [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-9.451600074768066, 0.11627800017595291, -2.249300003051758], "goal_radius": 3.0, "reference_path": "[[-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.8912500143051147, 0.11627800017595291, 3.9404499530792236], [-5.307839870452881, 0.11627800017595291, 1.6481599807739258], [-6.856790065765381, 0.11627800017595291, -0.26534798741340637], [-7.20999002456665, 0.11627800017595291, -1.6454399824142456], [-9.451600074768066, 0.11627800017595291, -2.249300003051758]]", "geodesic_distance": 12.069669723510742, "gt_locations": "[[-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-0.6114839911460876, 0.11627800017595291, 5.226439952850342], [-0.8614839911460876, 0.11627800017595291, 5.226439952850342], [-1.1114840507507324, 0.11627800017595291, 5.226439952850342], [-1.3529654741287231, 0.11627800017595291, 5.1617350578308105], [-1.4779654741287231, 0.11627800017595291, 4.945228576660156], [-1.6029654741287231, 0.11627800017595291, 4.728722095489502], [-1.6676702499389648, 0.11627800017595291, 4.487240791320801], [-1.7926702499389648, 0.11627800017595291, 4.2707343101501465], [-1.9176702499389648, 0.11627800017595291, 4.054227828979492], [-2.042670249938965, 0.11627800017595291, 3.837721586227417], [-2.167670249938965, 0.11627800017595291, 3.621215343475342], [-2.232375144958496, 0.11627800017595291, 3.3797338008880615], [-2.406998872756958, 0.11627800017595291, 3.200265884399414], [-2.6484804153442383, 0.11627800017595291, 3.105341911315918], [-2.8649868965148926, 0.11627800017595291, 2.980341911315918], [-3.081493377685547, 0.11627800017595291, 2.855341911315918], [-3.297999858856201, 0.11627800017595291, 2.730341911315918], [-3.5145063400268555, 0.11627800017595291, 2.605341911315918], [-3.7310128211975098, 0.11627800017595291, 2.480341911315918], [-3.947519302368164, 0.11627800017595291, 2.355341911315918], [-4.164025783538818, 0.11627800017595291, 2.230341911315918], [-4.380532264709473, 0.11627800017595291, 2.105341911315918], [-4.597038745880127, 0.11627800017595291, 1.980341911315918], [-4.813545227050781, 0.11627800017595291, 1.855341911315918], [-5.0300517082214355, 0.11627800017595291, 1.730341911315918], [-5.24655818939209, 0.11627800017595291, 1.605341911315918], [-5.423335075378418, 0.11627800017595291, 1.428565263748169], [-5.639841556549072, 0.11627800017595291, 1.303565263748169], [-5.8166184425354, 0.11627800017595291, 1.12678861618042], [-5.967426776885986, 0.11627800017595291, 0.9059809446334839], [-6.1442036628723145, 0.11627800017595291, 0.7292042970657349], [-6.320980548858643, 0.11627800017595291, 0.5524276494979858], [-6.445980548858643, 0.11627800017595291, 0.3359213173389435], [-6.570980548858643, 0.11627800017595291, 0.11941498517990112], [-6.635685443878174, 0.11627800017595291, -0.12206646800041199], [-6.700390338897705, 0.11627800017595291, -0.3635479211807251], [-6.765095233917236, 0.11627800017595291, -0.6050293445587158], [-6.829800128936768, 0.11627800017595291, -0.8465107679367065], [-6.954800128936768, 0.11627800017595291, -1.0630171298980713], [-7.079800128936768, 0.11627800017595291, -1.279523491859436], [-7.296306610107422, 0.11627800017595291, -1.404523491859436], [-7.512813091278076, 0.11627800017595291, -1.529523491859436], [-7.754294395446777, 0.11627800017595291, -1.5942282676696777], [-7.9957756996154785, 0.11627800017595291, -1.6589330434799194], [-8.23725700378418, 0.11627800017595291, -1.7236378192901611], [-8.478738784790039, 0.11627800017595291, -1.7883425951004028], [-8.720220565795898, 0.11627800017595291, -1.8530473709106445], [-8.936726570129395, 0.11627800017595291, -1.9780473709106445], [-9.15323257446289, 0.11627800017595291, -2.1030473709106445]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 444, "episode_id": "445", "scene_id": "S9hNv5qa7GM", "instruction": "Pass the sink and leave the laundry room. Enter the kitchen, and take a left. Walk out of the kitchen through the door on the right. Take a left, and enter the bedroom through the first door on the right. Stop in the doorway. ", "start_position": [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-9.451600074768066, 0.11627800017595291, -2.249300003051758], "goal_radius": 3.0, "reference_path": "[[-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.8912500143051147, 0.11627800017595291, 3.9404499530792236], [-5.307839870452881, 0.11627800017595291, 1.6481599807739258], [-6.856790065765381, 0.11627800017595291, -0.26534798741340637], [-7.20999002456665, 0.11627800017595291, -1.6454399824142456], [-9.451600074768066, 0.11627800017595291, -2.249300003051758]]", "geodesic_distance": 12.069669723510742, "gt_locations": "[[-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-0.6114839911460876, 0.11627800017595291, 5.226439952850342], [-0.8614839911460876, 0.11627800017595291, 5.226439952850342], [-1.1114840507507324, 0.11627800017595291, 5.226439952850342], [-1.3529654741287231, 0.11627800017595291, 5.1617350578308105], [-1.4779654741287231, 0.11627800017595291, 4.945228576660156], [-1.6029654741287231, 0.11627800017595291, 4.728722095489502], [-1.6676702499389648, 0.11627800017595291, 4.487240791320801], [-1.7926702499389648, 0.11627800017595291, 4.2707343101501465], [-1.9176702499389648, 0.11627800017595291, 4.054227828979492], [-2.042670249938965, 0.11627800017595291, 3.837721586227417], [-2.167670249938965, 0.11627800017595291, 3.621215343475342], [-2.232375144958496, 0.11627800017595291, 3.3797338008880615], [-2.406998872756958, 0.11627800017595291, 3.200265884399414], [-2.6484804153442383, 0.11627800017595291, 3.105341911315918], [-2.8649868965148926, 0.11627800017595291, 2.980341911315918], [-3.081493377685547, 0.11627800017595291, 2.855341911315918], [-3.297999858856201, 0.11627800017595291, 2.730341911315918], [-3.5145063400268555, 0.11627800017595291, 2.605341911315918], [-3.7310128211975098, 0.11627800017595291, 2.480341911315918], [-3.947519302368164, 0.11627800017595291, 2.355341911315918], [-4.164025783538818, 0.11627800017595291, 2.230341911315918], [-4.380532264709473, 0.11627800017595291, 2.105341911315918], [-4.597038745880127, 0.11627800017595291, 1.980341911315918], [-4.813545227050781, 0.11627800017595291, 1.855341911315918], [-5.0300517082214355, 0.11627800017595291, 1.730341911315918], [-5.24655818939209, 0.11627800017595291, 1.605341911315918], [-5.423335075378418, 0.11627800017595291, 1.428565263748169], [-5.639841556549072, 0.11627800017595291, 1.303565263748169], [-5.8166184425354, 0.11627800017595291, 1.12678861618042], [-5.967426776885986, 0.11627800017595291, 0.9059809446334839], [-6.1442036628723145, 0.11627800017595291, 0.7292042970657349], [-6.320980548858643, 0.11627800017595291, 0.5524276494979858], [-6.445980548858643, 0.11627800017595291, 0.3359213173389435], [-6.570980548858643, 0.11627800017595291, 0.11941498517990112], [-6.635685443878174, 0.11627800017595291, -0.12206646800041199], [-6.700390338897705, 0.11627800017595291, -0.3635479211807251], [-6.765095233917236, 0.11627800017595291, -0.6050293445587158], [-6.829800128936768, 0.11627800017595291, -0.8465107679367065], [-6.954800128936768, 0.11627800017595291, -1.0630171298980713], [-7.079800128936768, 0.11627800017595291, -1.279523491859436], [-7.296306610107422, 0.11627800017595291, -1.404523491859436], [-7.512813091278076, 0.11627800017595291, -1.529523491859436], [-7.754294395446777, 0.11627800017595291, -1.5942282676696777], [-7.9957756996154785, 0.11627800017595291, -1.6589330434799194], [-8.23725700378418, 0.11627800017595291, -1.7236378192901611], [-8.478738784790039, 0.11627800017595291, -1.7883425951004028], [-8.720220565795898, 0.11627800017595291, -1.8530473709106445], [-8.936726570129395, 0.11627800017595291, -1.9780473709106445], [-9.15323257446289, 0.11627800017595291, -2.1030473709106445]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 445, "episode_id": "446", "scene_id": "S9hNv5qa7GM", "instruction": "Exit the room using the door on the right. Turn left and go through the kitchen. Go past the table and chairs and wait near the stairs on the right. ", "start_position": [1.0500600337982178, 0.11627800017595291, 5.4060797691345215], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-9.117659568786621, 0.24274301528930664, 3.402899980545044], "goal_radius": 3.0, "reference_path": "[[1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.8912500143051147, 0.11627800017595291, 3.9404499530792236], [-5.307839870452881, 0.11627800017595291, 1.6481599807739258], [-8.067580223083496, 0.11627800017595291, 3.2494900226593018], [-9.117659568786621, 0.24274301528930664, 3.402899980545044]]", "geodesic_distance": 11.622580528259277, "gt_locations": "[[1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [0.8000600337982178, 0.11627800017595291, 5.4060797691345215], [0.5500600337982178, 0.11627800017595291, 5.4060797691345215], [0.3085785508155823, 0.11627800017595291, 5.34137487411499], [0.06709705293178558, 0.11627800017595291, 5.276669979095459], [-0.18290294706821442, 0.11627800017595291, 5.276669979095459], [-0.4329029321670532, 0.11627800017595291, 5.276669979095459], [-0.6829029321670532, 0.11627800017595291, 5.276669979095459], [-0.9329029321670532, 0.11627800017595291, 5.276669979095459], [-1.174384355545044, 0.11627800017595291, 5.211965084075928], [-1.4158657789230347, 0.11627800017595291, 5.1472601890563965], [-1.5408657789230347, 0.11627800017595291, 4.930753707885742], [-1.6658657789230347, 0.11627800017595291, 4.714247226715088], [-1.7305705547332764, 0.11627800017595291, 4.472765922546387], [-1.795275330543518, 0.11627800017595291, 4.2312846183776855], [-1.920275330543518, 0.11627800017595291, 4.014778137207031], [-2.0452754497528076, 0.11627800017595291, 3.798271894454956], [-2.1702754497528076, 0.11627800017595291, 3.581765651702881], [-2.234980344772339, 0.11627800017595291, 3.3402841091156006], [-2.411756992340088, 0.11627800017595291, 3.1635074615478516], [-2.628263473510742, 0.11627800017595291, 3.0385074615478516], [-2.8447699546813965, 0.11627800017595291, 2.9135074615478516], [-3.061276435852051, 0.11627800017595291, 2.7885074615478516], [-3.277782917022705, 0.11627800017595291, 2.6635074615478516], [-3.4942893981933594, 0.11627800017595291, 2.5385074615478516], [-3.7107958793640137, 0.11627800017595291, 2.4135074615478516], [-3.927302360534668, 0.11627800017595291, 2.2885074615478516], [-4.143808841705322, 0.11627800017595291, 2.1635074615478516], [-4.360315322875977, 0.11627800017595291, 2.0385074615478516], [-4.576821804046631, 0.11627800017595291, 1.9135074615478516], [-4.818303108215332, 0.11627800017595291, 1.8488026857376099], [-5.059784412384033, 0.11627800017595291, 1.7840979099273682], [-5.301265716552734, 0.11627800017595291, 1.8488028049468994], [-5.5427470207214355, 0.11627800017595291, 1.9135076999664307], [-5.784228324890137, 0.11627800017595291, 1.978212594985962], [-6.025709629058838, 0.11627800017595291, 2.042917490005493], [-6.242216110229492, 0.11627800017595291, 2.167917490005493], [-6.4587225914001465, 0.11627800017595291, 2.292917490005493], [-6.675229072570801, 0.11627800017595291, 2.417917490005493], [-6.891735553741455, 0.11627800017595291, 2.542917490005493], [-7.108242034912109, 0.11627800017595291, 2.667917490005493], [-7.324748516082764, 0.11627800017595291, 2.792917490005493], [-7.541254997253418, 0.11627800017595291, 2.917917490005493], [-7.757761478424072, 0.11627800017595291, 3.042917490005493], [-7.999242782592773, 0.11627800017595291, 3.1076223850250244], [-8.240724563598633, 0.11627800017595291, 3.1723272800445557], [-8.482206344604492, 0.21994006633758545, 3.237032175064087], [-8.723688125610352, 0.2580868601799011, 3.301737070083618]]", "gt_actions": "[3, 3, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 446, "episode_id": "447", "scene_id": "S9hNv5qa7GM", "instruction": "Keep walking forward and turn right to exit. Enter the kitchen, and keep walking forward passing the small corner table with four chairs on the right. Enter the corner where the staircase is visible, and stop in front of the stairs. ", "start_position": [1.0500600337982178, 0.11627800017595291, 5.4060797691345215], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-9.117659568786621, 0.24274301528930664, 3.402899980545044], "goal_radius": 3.0, "reference_path": "[[1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.8912500143051147, 0.11627800017595291, 3.9404499530792236], [-5.307839870452881, 0.11627800017595291, 1.6481599807739258], [-8.067580223083496, 0.11627800017595291, 3.2494900226593018], [-9.117659568786621, 0.24274301528930664, 3.402899980545044]]", "geodesic_distance": 11.622580528259277, "gt_locations": "[[1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [0.8000600337982178, 0.11627800017595291, 5.4060797691345215], [0.5500600337982178, 0.11627800017595291, 5.4060797691345215], [0.3085785508155823, 0.11627800017595291, 5.34137487411499], [0.06709705293178558, 0.11627800017595291, 5.276669979095459], [-0.18290294706821442, 0.11627800017595291, 5.276669979095459], [-0.4329029321670532, 0.11627800017595291, 5.276669979095459], [-0.6829029321670532, 0.11627800017595291, 5.276669979095459], [-0.9329029321670532, 0.11627800017595291, 5.276669979095459], [-1.174384355545044, 0.11627800017595291, 5.211965084075928], [-1.4158657789230347, 0.11627800017595291, 5.1472601890563965], [-1.5408657789230347, 0.11627800017595291, 4.930753707885742], [-1.6658657789230347, 0.11627800017595291, 4.714247226715088], [-1.7305705547332764, 0.11627800017595291, 4.472765922546387], [-1.795275330543518, 0.11627800017595291, 4.2312846183776855], [-1.920275330543518, 0.11627800017595291, 4.014778137207031], [-2.0452754497528076, 0.11627800017595291, 3.798271894454956], [-2.1702754497528076, 0.11627800017595291, 3.581765651702881], [-2.234980344772339, 0.11627800017595291, 3.3402841091156006], [-2.411756992340088, 0.11627800017595291, 3.1635074615478516], [-2.628263473510742, 0.11627800017595291, 3.0385074615478516], [-2.8447699546813965, 0.11627800017595291, 2.9135074615478516], [-3.061276435852051, 0.11627800017595291, 2.7885074615478516], [-3.277782917022705, 0.11627800017595291, 2.6635074615478516], [-3.4942893981933594, 0.11627800017595291, 2.5385074615478516], [-3.7107958793640137, 0.11627800017595291, 2.4135074615478516], [-3.927302360534668, 0.11627800017595291, 2.2885074615478516], [-4.143808841705322, 0.11627800017595291, 2.1635074615478516], [-4.360315322875977, 0.11627800017595291, 2.0385074615478516], [-4.576821804046631, 0.11627800017595291, 1.9135074615478516], [-4.818303108215332, 0.11627800017595291, 1.8488026857376099], [-5.059784412384033, 0.11627800017595291, 1.7840979099273682], [-5.301265716552734, 0.11627800017595291, 1.8488028049468994], [-5.5427470207214355, 0.11627800017595291, 1.9135076999664307], [-5.784228324890137, 0.11627800017595291, 1.978212594985962], [-6.025709629058838, 0.11627800017595291, 2.042917490005493], [-6.242216110229492, 0.11627800017595291, 2.167917490005493], [-6.4587225914001465, 0.11627800017595291, 2.292917490005493], [-6.675229072570801, 0.11627800017595291, 2.417917490005493], [-6.891735553741455, 0.11627800017595291, 2.542917490005493], [-7.108242034912109, 0.11627800017595291, 2.667917490005493], [-7.324748516082764, 0.11627800017595291, 2.792917490005493], [-7.541254997253418, 0.11627800017595291, 2.917917490005493], [-7.757761478424072, 0.11627800017595291, 3.042917490005493], [-7.999242782592773, 0.11627800017595291, 3.1076223850250244], [-8.240724563598633, 0.11627800017595291, 3.1723272800445557], [-8.482206344604492, 0.21994006633758545, 3.237032175064087], [-8.723688125610352, 0.2580868601799011, 3.301737070083618]]", "gt_actions": "[3, 3, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 447, "episode_id": "448", "scene_id": "S9hNv5qa7GM", "instruction": "Leave the laundry room, and take a right. Enter the kitchen and go left. Leave the kitchen, and enter the TV room on the left. Stop at the bottom of the stairs. ", "start_position": [1.0500600337982178, 0.11627800017595291, 5.4060797691345215], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-9.117659568786621, 0.24274301528930664, 3.402899980545044], "goal_radius": 3.0, "reference_path": "[[1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [-0.36148399114608765, 0.11627800017595291, 5.226439952850342], [-1.743589997291565, 0.11627800017595291, 5.120240211486816], [-1.8912500143051147, 0.11627800017595291, 3.9404499530792236], [-5.307839870452881, 0.11627800017595291, 1.6481599807739258], [-8.067580223083496, 0.11627800017595291, 3.2494900226593018], [-9.117659568786621, 0.24274301528930664, 3.402899980545044]]", "geodesic_distance": 11.622580528259277, "gt_locations": "[[1.0500600337982178, 0.11627800017595291, 5.4060797691345215], [0.8000600337982178, 0.11627800017595291, 5.4060797691345215], [0.5500600337982178, 0.11627800017595291, 5.4060797691345215], [0.3085785508155823, 0.11627800017595291, 5.34137487411499], [0.06709705293178558, 0.11627800017595291, 5.276669979095459], [-0.18290294706821442, 0.11627800017595291, 5.276669979095459], [-0.4329029321670532, 0.11627800017595291, 5.276669979095459], [-0.6829029321670532, 0.11627800017595291, 5.276669979095459], [-0.9329029321670532, 0.11627800017595291, 5.276669979095459], [-1.174384355545044, 0.11627800017595291, 5.211965084075928], [-1.4158657789230347, 0.11627800017595291, 5.1472601890563965], [-1.5408657789230347, 0.11627800017595291, 4.930753707885742], [-1.6658657789230347, 0.11627800017595291, 4.714247226715088], [-1.7305705547332764, 0.11627800017595291, 4.472765922546387], [-1.795275330543518, 0.11627800017595291, 4.2312846183776855], [-1.920275330543518, 0.11627800017595291, 4.014778137207031], [-2.0452754497528076, 0.11627800017595291, 3.798271894454956], [-2.1702754497528076, 0.11627800017595291, 3.581765651702881], [-2.234980344772339, 0.11627800017595291, 3.3402841091156006], [-2.411756992340088, 0.11627800017595291, 3.1635074615478516], [-2.628263473510742, 0.11627800017595291, 3.0385074615478516], [-2.8447699546813965, 0.11627800017595291, 2.9135074615478516], [-3.061276435852051, 0.11627800017595291, 2.7885074615478516], [-3.277782917022705, 0.11627800017595291, 2.6635074615478516], [-3.4942893981933594, 0.11627800017595291, 2.5385074615478516], [-3.7107958793640137, 0.11627800017595291, 2.4135074615478516], [-3.927302360534668, 0.11627800017595291, 2.2885074615478516], [-4.143808841705322, 0.11627800017595291, 2.1635074615478516], [-4.360315322875977, 0.11627800017595291, 2.0385074615478516], [-4.576821804046631, 0.11627800017595291, 1.9135074615478516], [-4.818303108215332, 0.11627800017595291, 1.8488026857376099], [-5.059784412384033, 0.11627800017595291, 1.7840979099273682], [-5.301265716552734, 0.11627800017595291, 1.8488028049468994], [-5.5427470207214355, 0.11627800017595291, 1.9135076999664307], [-5.784228324890137, 0.11627800017595291, 1.978212594985962], [-6.025709629058838, 0.11627800017595291, 2.042917490005493], [-6.242216110229492, 0.11627800017595291, 2.167917490005493], [-6.4587225914001465, 0.11627800017595291, 2.292917490005493], [-6.675229072570801, 0.11627800017595291, 2.417917490005493], [-6.891735553741455, 0.11627800017595291, 2.542917490005493], [-7.108242034912109, 0.11627800017595291, 2.667917490005493], [-7.324748516082764, 0.11627800017595291, 2.792917490005493], [-7.541254997253418, 0.11627800017595291, 2.917917490005493], [-7.757761478424072, 0.11627800017595291, 3.042917490005493], [-7.999242782592773, 0.11627800017595291, 3.1076223850250244], [-8.240724563598633, 0.11627800017595291, 3.1723272800445557], [-8.482206344604492, 0.21994006633758545, 3.237032175064087], [-8.723688125610352, 0.2580868601799011, 3.301737070083618]]", "gt_actions": "[3, 3, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 448, "episode_id": "449", "scene_id": "ac26ZMwG7aT", "instruction": "Go out of the room an take an immediate left. When you reach the hallway, go right. The second door on the left is a powder room, go in and wait there. ", "start_position": [4.4914398193359375, 0.13922199606895447, -11.418999671936035], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [4.00285005569458, 0.13922199606895447, -1.8503400087356567], "goal_radius": 3.0, "reference_path": "[[4.4914398193359375, 0.13922199606895447, -11.418999671936035], [3.732640027999878, 0.13922199606895447, -10.660900115966797], [4.94025993347168, 0.13922199606895447, -9.339570045471191], [6.132070064544678, 0.13922199606895447, -8.009550094604492], [4.205359935760498, 0.13922199606895447, -3.981679916381836], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [4.00285005569458, 0.13922199606895447, -1.8503400087356567]]", "geodesic_distance": 10.020350456237793, "gt_locations": "[[4.4914398193359375, 0.13922199606895447, -11.418999671936035], [4.314662933349609, 0.13922199606895447, -11.242222785949707], [4.137886047363281, 0.13922199606895447, -11.065445899963379], [3.9611093997955322, 0.13922199606895447, -10.88866901397705], [4.086109638214111, 0.13922199606895447, -10.672163009643555], [4.211109638214111, 0.13922199606895447, -10.455657005310059], [4.336109638214111, 0.13922199606895447, -10.239151000976562], [4.461109638214111, 0.13922199606895447, -10.022644996643066], [4.586109638214111, 0.13922199606895447, -9.80613899230957], [4.711109638214111, 0.13922199606895447, -9.589632987976074], [4.8878865242004395, 0.13922199606895447, -9.412856101989746], [5.064663410186768, 0.13922199606895447, -9.236079216003418], [5.241440296173096, 0.13922199606895447, -9.05930233001709], [5.418217182159424, 0.13922199606895447, -8.882525444030762], [5.594994068145752, 0.13922199606895447, -8.705748558044434], [5.77177095413208, 0.13922199606895447, -8.528971672058105], [5.89677095413208, 0.13922199606895447, -8.31246566772461], [5.832066059112549, 0.13922199606895447, -8.07098388671875], [5.767361164093018, 0.13922199606895447, -7.829502582550049], [5.702656269073486, 0.13922199606895447, -7.588021278381348], [5.637951374053955, 0.13922199606895447, -7.3465399742126465], [5.573246479034424, 0.13922199606895447, -7.105058670043945], [5.508541584014893, 0.13922199606895447, -6.863577365875244], [5.443836688995361, 0.13922199606895447, -6.622096061706543], [5.318836688995361, 0.13922199606895447, -6.405589580535889], [5.193836688995361, 0.13922199606895447, -6.189083099365234], [5.068836688995361, 0.13922199606895447, -5.97257661819458], [4.943836688995361, 0.13922199606895447, -5.756070137023926], [4.818836688995361, 0.13922199606895447, -5.5395636558532715], [4.693836688995361, 0.13922199606895447, -5.323057174682617], [4.62913179397583, 0.13922199606895447, -5.081575393676758], [4.564426898956299, 0.13922199606895447, -4.840093612670898], [4.499722003936768, 0.13922199606895447, -4.598611831665039], [4.374722003936768, 0.13922199606895447, -4.382105350494385], [4.310017108917236, 0.13922199606895447, -4.140624046325684], [4.245312213897705, 0.13922199606895447, -3.8991425037384033], [4.120312213897705, 0.13922199606895447, -3.682636022567749], [3.943535566329956, 0.13922199606895447, -3.505859375], [3.766758918762207, 0.13922199606895447, -3.329082489013672], [3.589982271194458, 0.13922199606895447, -3.1523056030273438], [3.6546871662139893, 0.13922199606895447, -2.9108240604400635], [3.7193920612335205, 0.13922199606895447, -2.669342517852783], [3.7840969562530518, 0.13922199606895447, -2.427860975265503], [3.848801851272583, 0.13922199606895447, -2.1863794326782227]]", "gt_actions": "[3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 3, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 449, "episode_id": "450", "scene_id": "ac26ZMwG7aT", "instruction": "enter the room then turn left walk straight then turn right enter the second door wait in the bathroom. ", "start_position": [4.4914398193359375, 0.13922199606895447, -11.418999671936035], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [4.00285005569458, 0.13922199606895447, -1.8503400087356567], "goal_radius": 3.0, "reference_path": "[[4.4914398193359375, 0.13922199606895447, -11.418999671936035], [3.732640027999878, 0.13922199606895447, -10.660900115966797], [4.94025993347168, 0.13922199606895447, -9.339570045471191], [6.132070064544678, 0.13922199606895447, -8.009550094604492], [4.205359935760498, 0.13922199606895447, -3.981679916381836], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [4.00285005569458, 0.13922199606895447, -1.8503400087356567]]", "geodesic_distance": 10.020350456237793, "gt_locations": "[[4.4914398193359375, 0.13922199606895447, -11.418999671936035], [4.314662933349609, 0.13922199606895447, -11.242222785949707], [4.137886047363281, 0.13922199606895447, -11.065445899963379], [3.9611093997955322, 0.13922199606895447, -10.88866901397705], [4.086109638214111, 0.13922199606895447, -10.672163009643555], [4.211109638214111, 0.13922199606895447, -10.455657005310059], [4.336109638214111, 0.13922199606895447, -10.239151000976562], [4.461109638214111, 0.13922199606895447, -10.022644996643066], [4.586109638214111, 0.13922199606895447, -9.80613899230957], [4.711109638214111, 0.13922199606895447, -9.589632987976074], [4.8878865242004395, 0.13922199606895447, -9.412856101989746], [5.064663410186768, 0.13922199606895447, -9.236079216003418], [5.241440296173096, 0.13922199606895447, -9.05930233001709], [5.418217182159424, 0.13922199606895447, -8.882525444030762], [5.594994068145752, 0.13922199606895447, -8.705748558044434], [5.77177095413208, 0.13922199606895447, -8.528971672058105], [5.89677095413208, 0.13922199606895447, -8.31246566772461], [5.832066059112549, 0.13922199606895447, -8.07098388671875], [5.767361164093018, 0.13922199606895447, -7.829502582550049], [5.702656269073486, 0.13922199606895447, -7.588021278381348], [5.637951374053955, 0.13922199606895447, -7.3465399742126465], [5.573246479034424, 0.13922199606895447, -7.105058670043945], [5.508541584014893, 0.13922199606895447, -6.863577365875244], [5.443836688995361, 0.13922199606895447, -6.622096061706543], [5.318836688995361, 0.13922199606895447, -6.405589580535889], [5.193836688995361, 0.13922199606895447, -6.189083099365234], [5.068836688995361, 0.13922199606895447, -5.97257661819458], [4.943836688995361, 0.13922199606895447, -5.756070137023926], [4.818836688995361, 0.13922199606895447, -5.5395636558532715], [4.693836688995361, 0.13922199606895447, -5.323057174682617], [4.62913179397583, 0.13922199606895447, -5.081575393676758], [4.564426898956299, 0.13922199606895447, -4.840093612670898], [4.499722003936768, 0.13922199606895447, -4.598611831665039], [4.374722003936768, 0.13922199606895447, -4.382105350494385], [4.310017108917236, 0.13922199606895447, -4.140624046325684], [4.245312213897705, 0.13922199606895447, -3.8991425037384033], [4.120312213897705, 0.13922199606895447, -3.682636022567749], [3.943535566329956, 0.13922199606895447, -3.505859375], [3.766758918762207, 0.13922199606895447, -3.329082489013672], [3.589982271194458, 0.13922199606895447, -3.1523056030273438], [3.6546871662139893, 0.13922199606895447, -2.9108240604400635], [3.7193920612335205, 0.13922199606895447, -2.669342517852783], [3.7840969562530518, 0.13922199606895447, -2.427860975265503], [3.848801851272583, 0.13922199606895447, -2.1863794326782227]]", "gt_actions": "[3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 3, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 450, "episode_id": "451", "scene_id": "ac26ZMwG7aT", "instruction": "Exit the bedroom and turn left to exit the sitting room. Turn right in the hall and enter the bathroom, which is on the left across from the first window. ", "start_position": [4.4914398193359375, 0.13922199606895447, -11.418999671936035], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [4.00285005569458, 0.13922199606895447, -1.8503400087356567], "goal_radius": 3.0, "reference_path": "[[4.4914398193359375, 0.13922199606895447, -11.418999671936035], [3.732640027999878, 0.13922199606895447, -10.660900115966797], [4.94025993347168, 0.13922199606895447, -9.339570045471191], [6.132070064544678, 0.13922199606895447, -8.009550094604492], [4.205359935760498, 0.13922199606895447, -3.981679916381836], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [4.00285005569458, 0.13922199606895447, -1.8503400087356567]]", "geodesic_distance": 10.020350456237793, "gt_locations": "[[4.4914398193359375, 0.13922199606895447, -11.418999671936035], [4.314662933349609, 0.13922199606895447, -11.242222785949707], [4.137886047363281, 0.13922199606895447, -11.065445899963379], [3.9611093997955322, 0.13922199606895447, -10.88866901397705], [4.086109638214111, 0.13922199606895447, -10.672163009643555], [4.211109638214111, 0.13922199606895447, -10.455657005310059], [4.336109638214111, 0.13922199606895447, -10.239151000976562], [4.461109638214111, 0.13922199606895447, -10.022644996643066], [4.586109638214111, 0.13922199606895447, -9.80613899230957], [4.711109638214111, 0.13922199606895447, -9.589632987976074], [4.8878865242004395, 0.13922199606895447, -9.412856101989746], [5.064663410186768, 0.13922199606895447, -9.236079216003418], [5.241440296173096, 0.13922199606895447, -9.05930233001709], [5.418217182159424, 0.13922199606895447, -8.882525444030762], [5.594994068145752, 0.13922199606895447, -8.705748558044434], [5.77177095413208, 0.13922199606895447, -8.528971672058105], [5.89677095413208, 0.13922199606895447, -8.31246566772461], [5.832066059112549, 0.13922199606895447, -8.07098388671875], [5.767361164093018, 0.13922199606895447, -7.829502582550049], [5.702656269073486, 0.13922199606895447, -7.588021278381348], [5.637951374053955, 0.13922199606895447, -7.3465399742126465], [5.573246479034424, 0.13922199606895447, -7.105058670043945], [5.508541584014893, 0.13922199606895447, -6.863577365875244], [5.443836688995361, 0.13922199606895447, -6.622096061706543], [5.318836688995361, 0.13922199606895447, -6.405589580535889], [5.193836688995361, 0.13922199606895447, -6.189083099365234], [5.068836688995361, 0.13922199606895447, -5.97257661819458], [4.943836688995361, 0.13922199606895447, -5.756070137023926], [4.818836688995361, 0.13922199606895447, -5.5395636558532715], [4.693836688995361, 0.13922199606895447, -5.323057174682617], [4.62913179397583, 0.13922199606895447, -5.081575393676758], [4.564426898956299, 0.13922199606895447, -4.840093612670898], [4.499722003936768, 0.13922199606895447, -4.598611831665039], [4.374722003936768, 0.13922199606895447, -4.382105350494385], [4.310017108917236, 0.13922199606895447, -4.140624046325684], [4.245312213897705, 0.13922199606895447, -3.8991425037384033], [4.120312213897705, 0.13922199606895447, -3.682636022567749], [3.943535566329956, 0.13922199606895447, -3.505859375], [3.766758918762207, 0.13922199606895447, -3.329082489013672], [3.589982271194458, 0.13922199606895447, -3.1523056030273438], [3.6546871662139893, 0.13922199606895447, -2.9108240604400635], [3.7193920612335205, 0.13922199606895447, -2.669342517852783], [3.7840969562530518, 0.13922199606895447, -2.427860975265503], [3.848801851272583, 0.13922199606895447, -2.1863794326782227]]", "gt_actions": "[3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 3, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 451, "episode_id": "452", "scene_id": "ZMojNkEp431", "instruction": "Walk down stairs, turn right and wait next to unicycle. ", "start_position": [19.540300369262695, 0.09357202053070068, -1.3435200452804565], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [20.978300094604492, -0.7064279913902283, 3.791520118713379], "goal_radius": 3.0, "reference_path": "[[19.540300369262695, 0.09357202053070068, -1.3435200452804565], [19.01930046081543, 0.09357202053070068, 0.18327000737190247], [19.884700775146484, -0.002121187746524811, 0.555974006652832], [20.91010093688965, -0.5064280033111572, 0.9751390218734741], [20.978300094604492, -0.7064279913902283, 3.791520118713379]]", "geodesic_distance": 6.356143951416016, "gt_locations": "[[19.540300369262695, 0.09357202053070068, -1.3435200452804565], [19.475595474243164, 0.09357202053070068, -1.1020386219024658], [19.410890579223633, 0.09357202053070068, -0.8605571389198303], [19.3461856842041, 0.09357202053070068, -0.6190756559371948], [19.28148078918457, 0.09357202053070068, -0.3775941729545593], [19.15648078918457, 0.09357202053070068, -0.1610877811908722], [19.3332576751709, 0.09357202053070068, 0.01568889617919922], [19.510034561157227, 0.09357202053070068, 0.19246557354927063], [19.686811447143555, 0.09357202053070068, 0.36924225091934204], [19.863588333129883, -0.003837697207927704, 0.5460189580917358], [20.04036521911621, -0.11048614978790283, 0.7227956056594849], [20.21714210510254, -0.2693610191345215, 0.8995722532272339], [20.4586238861084, -0.4357921779155731, 0.9642770290374756], [20.67513084411621, -0.5064280033111572, 1.0892770290374756], [20.85190773010254, -0.5070720911026001, 1.2660537958145142], [20.97690773010254, -0.5346255302429199, 1.482560157775879], [21.10190773010254, -0.5808890461921692, 1.6990665197372437], [21.22690773010254, -0.6271525621414185, 1.9155728816986084], [21.35190773010254, -0.6734160780906677, 2.1320791244506836], [21.528684616088867, -0.7064279913902283, 2.3088557720184326], [21.705461502075195, -0.7064279913902283, 2.4856324195861816], [21.8120174407959, -0.7064279913902283, 2.7354846000671387], [21.751008987426758, -0.7064279913902283, 2.990386486053467], [21.626008987426758, -0.7064279913902283, 3.206892967224121], [21.44923210144043, -0.7064279913902283, 3.38366961479187], [21.2724552154541, -0.7064279913902283, 3.560446262359619]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 1, 3, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 3, 3, 1, 1, 3, 1, 1, 0]"}
{"id": 452, "episode_id": "453", "scene_id": "ZMojNkEp431", "instruction": "Turn left and go down the steps on the left. Turn right and wait near the unicycle. ", "start_position": [19.540300369262695, 0.09357202053070068, -1.3435200452804565], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [20.978300094604492, -0.7064279913902283, 3.791520118713379], "goal_radius": 3.0, "reference_path": "[[19.540300369262695, 0.09357202053070068, -1.3435200452804565], [19.01930046081543, 0.09357202053070068, 0.18327000737190247], [19.884700775146484, -0.002121187746524811, 0.555974006652832], [20.91010093688965, -0.5064280033111572, 0.9751390218734741], [20.978300094604492, -0.7064279913902283, 3.791520118713379]]", "geodesic_distance": 6.356143951416016, "gt_locations": "[[19.540300369262695, 0.09357202053070068, -1.3435200452804565], [19.475595474243164, 0.09357202053070068, -1.1020386219024658], [19.410890579223633, 0.09357202053070068, -0.8605571389198303], [19.3461856842041, 0.09357202053070068, -0.6190756559371948], [19.28148078918457, 0.09357202053070068, -0.3775941729545593], [19.15648078918457, 0.09357202053070068, -0.1610877811908722], [19.3332576751709, 0.09357202053070068, 0.01568889617919922], [19.510034561157227, 0.09357202053070068, 0.19246557354927063], [19.686811447143555, 0.09357202053070068, 0.36924225091934204], [19.863588333129883, -0.003837697207927704, 0.5460189580917358], [20.04036521911621, -0.11048614978790283, 0.7227956056594849], [20.21714210510254, -0.2693610191345215, 0.8995722532272339], [20.4586238861084, -0.4357921779155731, 0.9642770290374756], [20.67513084411621, -0.5064280033111572, 1.0892770290374756], [20.85190773010254, -0.5070720911026001, 1.2660537958145142], [20.97690773010254, -0.5346255302429199, 1.482560157775879], [21.10190773010254, -0.5808890461921692, 1.6990665197372437], [21.22690773010254, -0.6271525621414185, 1.9155728816986084], [21.35190773010254, -0.6734160780906677, 2.1320791244506836], [21.528684616088867, -0.7064279913902283, 2.3088557720184326], [21.705461502075195, -0.7064279913902283, 2.4856324195861816], [21.8120174407959, -0.7064279913902283, 2.7354846000671387], [21.751008987426758, -0.7064279913902283, 2.990386486053467], [21.626008987426758, -0.7064279913902283, 3.206892967224121], [21.44923210144043, -0.7064279913902283, 3.38366961479187], [21.2724552154541, -0.7064279913902283, 3.560446262359619]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 1, 3, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 3, 3, 1, 1, 3, 1, 1, 0]"}
{"id": 453, "episode_id": "454", "scene_id": "ZMojNkEp431", "instruction": "Go down the stairs and then turn right. Go stand behind the easel by a unicycle next to a door. ", "start_position": [19.540300369262695, 0.09357202053070068, -1.3435200452804565], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [20.978300094604492, -0.7064279913902283, 3.791520118713379], "goal_radius": 3.0, "reference_path": "[[19.540300369262695, 0.09357202053070068, -1.3435200452804565], [19.01930046081543, 0.09357202053070068, 0.18327000737190247], [19.884700775146484, -0.002121187746524811, 0.555974006652832], [20.91010093688965, -0.5064280033111572, 0.9751390218734741], [20.978300094604492, -0.7064279913902283, 3.791520118713379]]", "geodesic_distance": 6.356143951416016, "gt_locations": "[[19.540300369262695, 0.09357202053070068, -1.3435200452804565], [19.475595474243164, 0.09357202053070068, -1.1020386219024658], [19.410890579223633, 0.09357202053070068, -0.8605571389198303], [19.3461856842041, 0.09357202053070068, -0.6190756559371948], [19.28148078918457, 0.09357202053070068, -0.3775941729545593], [19.15648078918457, 0.09357202053070068, -0.1610877811908722], [19.3332576751709, 0.09357202053070068, 0.01568889617919922], [19.510034561157227, 0.09357202053070068, 0.19246557354927063], [19.686811447143555, 0.09357202053070068, 0.36924225091934204], [19.863588333129883, -0.003837697207927704, 0.5460189580917358], [20.04036521911621, -0.11048614978790283, 0.7227956056594849], [20.21714210510254, -0.2693610191345215, 0.8995722532272339], [20.4586238861084, -0.4357921779155731, 0.9642770290374756], [20.67513084411621, -0.5064280033111572, 1.0892770290374756], [20.85190773010254, -0.5070720911026001, 1.2660537958145142], [20.97690773010254, -0.5346255302429199, 1.482560157775879], [21.10190773010254, -0.5808890461921692, 1.6990665197372437], [21.22690773010254, -0.6271525621414185, 1.9155728816986084], [21.35190773010254, -0.6734160780906677, 2.1320791244506836], [21.528684616088867, -0.7064279913902283, 2.3088557720184326], [21.705461502075195, -0.7064279913902283, 2.4856324195861816], [21.8120174407959, -0.7064279913902283, 2.7354846000671387], [21.751008987426758, -0.7064279913902283, 2.990386486053467], [21.626008987426758, -0.7064279913902283, 3.206892967224121], [21.44923210144043, -0.7064279913902283, 3.38366961479187], [21.2724552154541, -0.7064279913902283, 3.560446262359619]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 1, 3, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 3, 3, 3, 1, 1, 3, 1, 1, 0]"}
{"id": 454, "episode_id": "455", "scene_id": "aayBHfsNo7d", "instruction": "Turn around and walk straight. Turn into the room on the left with the black desk and big window. Stop by the rug. ", "start_position": [3.1888599395751953, 0.028255999088287354, 4.111730098724365], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.328940391540527, 0.028255999088287354, 1.0550299882888794], "goal_radius": 3.0, "reference_path": "[[3.1888599395751953, 0.028255999088287354, 4.111730098724365], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [8.328940391540527, 0.028255999088287354, 1.0550299882888794]]", "geodesic_distance": 6.527733325958252, "gt_locations": "[[3.1888599395751953, 0.028255999088287354, 4.111730098724365], [3.4388599395751953, 0.028255999088287354, 4.111730098724365], [3.6888599395751953, 0.10654418915510178, 4.111730098724365], [3.9388599395751953, 0.1371770054101944, 4.111730098724365], [4.188859939575195, 0.14312644302845, 4.111730098724365], [4.438859939575195, 0.14419087767601013, 4.111730098724365], [4.688859939575195, 0.14207233488559723, 4.111730098724365], [4.938859939575195, 0.1292891800403595, 4.111730098724365], [5.188859939575195, 0.028255999088287354, 4.111730098724365], [5.438859939575195, 0.028255999088287354, 4.111730098724365], [5.688859939575195, 0.028255999088287354, 4.111730098724365], [5.938859939575195, 0.028255999088287354, 4.111730098724365], [6.188859939575195, 0.028255999088287354, 4.111730098724365], [6.438859939575195, 0.028255999088287354, 4.111730098724365], [6.688859939575195, 0.028255999088287354, 4.111730098724365], [6.938859939575195, 0.028255999088287354, 4.111730098724365], [7.188859939575195, 0.028255999088287354, 4.111730098724365], [7.438859939575195, 0.028255999088287354, 4.111730098724365], [7.688859939575195, 0.028255999088287354, 4.111730098724365], [7.938859939575195, 0.028255999088287354, 4.111730098724365], [8.188859939575195, 0.028255999088287354, 4.111730098724365], [8.438859939575195, 0.028255999088287354, 4.111730098724365], [8.438859939575195, 0.028255999088287354, 3.8617300987243652], [8.438859939575195, 0.028255999088287354, 3.6117300987243652], [8.438859939575195, 0.028255999088287354, 3.3617300987243652], [8.438859939575195, 0.028255999088287354, 3.1117300987243652], [8.438859939575195, 0.028255999088287354, 2.8617300987243652], [8.438859939575195, 0.028255999088287354, 2.6117300987243652], [8.438859939575195, 0.028255999088287354, 2.3617300987243652], [8.438859939575195, 0.028255999088287354, 2.1117300987243652], [8.438859939575195, 0.028255999088287354, 1.8617300987243652], [8.438859939575195, 0.028255999088287354, 1.6117300987243652], [8.374155044555664, 0.028255999088287354, 1.3702486753463745]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 455, "episode_id": "456", "scene_id": "aayBHfsNo7d", "instruction": "Turn around and walk to the end of the long table with chairs. At the end turn left and enter the sitting room and stop. ", "start_position": [3.1888599395751953, 0.028255999088287354, 4.111730098724365], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.328940391540527, 0.028255999088287354, 1.0550299882888794], "goal_radius": 3.0, "reference_path": "[[3.1888599395751953, 0.028255999088287354, 4.111730098724365], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [8.328940391540527, 0.028255999088287354, 1.0550299882888794]]", "geodesic_distance": 6.527733325958252, "gt_locations": "[[3.1888599395751953, 0.028255999088287354, 4.111730098724365], [3.4388599395751953, 0.028255999088287354, 4.111730098724365], [3.6888599395751953, 0.10654418915510178, 4.111730098724365], [3.9388599395751953, 0.1371770054101944, 4.111730098724365], [4.188859939575195, 0.14312644302845, 4.111730098724365], [4.438859939575195, 0.14419087767601013, 4.111730098724365], [4.688859939575195, 0.14207233488559723, 4.111730098724365], [4.938859939575195, 0.1292891800403595, 4.111730098724365], [5.188859939575195, 0.028255999088287354, 4.111730098724365], [5.438859939575195, 0.028255999088287354, 4.111730098724365], [5.688859939575195, 0.028255999088287354, 4.111730098724365], [5.938859939575195, 0.028255999088287354, 4.111730098724365], [6.188859939575195, 0.028255999088287354, 4.111730098724365], [6.438859939575195, 0.028255999088287354, 4.111730098724365], [6.688859939575195, 0.028255999088287354, 4.111730098724365], [6.938859939575195, 0.028255999088287354, 4.111730098724365], [7.188859939575195, 0.028255999088287354, 4.111730098724365], [7.438859939575195, 0.028255999088287354, 4.111730098724365], [7.688859939575195, 0.028255999088287354, 4.111730098724365], [7.938859939575195, 0.028255999088287354, 4.111730098724365], [8.188859939575195, 0.028255999088287354, 4.111730098724365], [8.438859939575195, 0.028255999088287354, 4.111730098724365], [8.438859939575195, 0.028255999088287354, 3.8617300987243652], [8.438859939575195, 0.028255999088287354, 3.6117300987243652], [8.438859939575195, 0.028255999088287354, 3.3617300987243652], [8.438859939575195, 0.028255999088287354, 3.1117300987243652], [8.438859939575195, 0.028255999088287354, 2.8617300987243652], [8.438859939575195, 0.028255999088287354, 2.6117300987243652], [8.438859939575195, 0.028255999088287354, 2.3617300987243652], [8.438859939575195, 0.028255999088287354, 2.1117300987243652], [8.438859939575195, 0.028255999088287354, 1.8617300987243652], [8.438859939575195, 0.028255999088287354, 1.6117300987243652], [8.374155044555664, 0.028255999088287354, 1.3702486753463745]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 456, "episode_id": "457", "scene_id": "aayBHfsNo7d", "instruction": "walk past staircase, turn left at dining table and stop in front of desk. ", "start_position": [3.1888599395751953, 0.028255999088287354, 4.111730098724365], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.328940391540527, 0.028255999088287354, 1.0550299882888794], "goal_radius": 3.0, "reference_path": "[[3.1888599395751953, 0.028255999088287354, 4.111730098724365], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [8.328940391540527, 0.028255999088287354, 1.0550299882888794]]", "geodesic_distance": 6.527733325958252, "gt_locations": "[[3.1888599395751953, 0.028255999088287354, 4.111730098724365], [3.4388599395751953, 0.028255999088287354, 4.111730098724365], [3.6888599395751953, 0.10654418915510178, 4.111730098724365], [3.9388599395751953, 0.1371770054101944, 4.111730098724365], [4.188859939575195, 0.14312644302845, 4.111730098724365], [4.438859939575195, 0.14419087767601013, 4.111730098724365], [4.688859939575195, 0.14207233488559723, 4.111730098724365], [4.938859939575195, 0.1292891800403595, 4.111730098724365], [5.188859939575195, 0.028255999088287354, 4.111730098724365], [5.438859939575195, 0.028255999088287354, 4.111730098724365], [5.688859939575195, 0.028255999088287354, 4.111730098724365], [5.938859939575195, 0.028255999088287354, 4.111730098724365], [6.188859939575195, 0.028255999088287354, 4.111730098724365], [6.438859939575195, 0.028255999088287354, 4.111730098724365], [6.688859939575195, 0.028255999088287354, 4.111730098724365], [6.938859939575195, 0.028255999088287354, 4.111730098724365], [7.188859939575195, 0.028255999088287354, 4.111730098724365], [7.438859939575195, 0.028255999088287354, 4.111730098724365], [7.688859939575195, 0.028255999088287354, 4.111730098724365], [7.938859939575195, 0.028255999088287354, 4.111730098724365], [8.188859939575195, 0.028255999088287354, 4.111730098724365], [8.438859939575195, 0.028255999088287354, 4.111730098724365], [8.438859939575195, 0.028255999088287354, 3.8617300987243652], [8.438859939575195, 0.028255999088287354, 3.6117300987243652], [8.438859939575195, 0.028255999088287354, 3.3617300987243652], [8.438859939575195, 0.028255999088287354, 3.1117300987243652], [8.438859939575195, 0.028255999088287354, 2.8617300987243652], [8.438859939575195, 0.028255999088287354, 2.6117300987243652], [8.438859939575195, 0.028255999088287354, 2.3617300987243652], [8.438859939575195, 0.028255999088287354, 2.1117300987243652], [8.438859939575195, 0.028255999088287354, 1.8617300987243652], [8.438859939575195, 0.028255999088287354, 1.6117300987243652], [8.374155044555664, 0.028255999088287354, 1.3702486753463745]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 457, "episode_id": "458", "scene_id": "sKLMLpTHeUy", "instruction": "Walk through the kitchen. Stop on the balcony, next to the first couch with black and white cushions. ", "start_position": [16.434600830078125, 2.9496591091156006, 0.14930899441242218], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [3.4271600246429443, 2.950739860534668, 0.6535829901695251], "goal_radius": 3.0, "reference_path": "[[16.434600830078125, 2.9496591091156006, 0.14930899441242218], [14.785900115966797, 2.9496591091156006, 1.2099100351333618], [12.860300064086914, 2.9496591091156006, 1.4454699754714966], [10.847999572753906, 2.9496591091156006, 1.2206699848175049], [9.060680389404297, 2.9496591091156006, 1.151610016822815], [5.9668498039245605, 2.9496591091156006, 1.056339979171753], [3.4271600246429443, 2.950739860534668, 0.6535829901695251]]", "geodesic_distance": 13.468184471130371, "gt_locations": "[[16.434600830078125, 2.9496591091156006, 0.14930899441242218], [16.309600830078125, 2.9496591091156006, 0.3658154010772705], [16.184600830078125, 2.9496591091156006, 0.5823217630386353], [15.968094825744629, 2.9496591091156006, 0.7073217630386353], [15.751588821411133, 2.9496591091156006, 0.8323217630386353], [15.535082817077637, 3.0352864265441895, 0.9573217630386353], [15.31857681274414, 3.1198718547821045, 1.1205859184265137], [15.077095031738281, 3.0250048637390137, 1.185290813446045], [14.835613250732422, 2.9496591091156006, 1.2499957084655762], [14.594131469726562, 2.9496591091156006, 1.3147006034851074], [14.352649688720703, 2.9496591091156006, 1.3794054985046387], [14.102649688720703, 2.9496591091156006, 1.3794054985046387], [13.852649688720703, 2.9496591091156006, 1.3794054985046387], [13.602649688720703, 2.9496591091156006, 1.3794054985046387], [13.352649688720703, 2.9496591091156006, 1.3794054985046387], [13.102649688720703, 2.9496591091156006, 1.3794054985046387], [12.852649688720703, 2.9496591091156006, 1.3794054985046387], [12.602649688720703, 2.9496591091156006, 1.3794054985046387], [12.352649688720703, 3.036393404006958, 1.3794054985046387], [12.102649688720703, 3.036539077758789, 1.3794054985046387], [11.852649688720703, 2.958869218826294, 1.3794054985046387], [11.602649688720703, 2.9496591091156006, 1.3794054985046387], [11.361167907714844, 2.9496591091156006, 1.314700722694397], [11.119686126708984, 2.9496591091156006, 1.2499959468841553], [10.869686126708984, 2.9496591091156006, 1.2499960660934448], [10.619686126708984, 2.9496591091156006, 1.2499961853027344], [10.369686126708984, 2.9496591091156006, 1.249996304512024], [10.119686126708984, 2.9496591091156006, 1.2499964237213135], [9.869686126708984, 2.9496591091156006, 1.249996542930603], [9.619686126708984, 2.9496591091156006, 1.2499966621398926], [9.378204345703125, 2.9496591091156006, 1.1852920055389404], [9.128204345703125, 2.9496591091156006, 1.18529212474823], [8.878204345703125, 2.9496591091156006, 1.1852922439575195], [8.628204345703125, 2.9496591091156006, 1.185292363166809], [8.378204345703125, 2.9496591091156006, 1.1852924823760986], [8.128204345703125, 2.9496591091156006, 1.1852926015853882], [7.878204345703125, 2.9496591091156006, 1.1852927207946777], [7.628204345703125, 2.9496591091156006, 1.1852928400039673], [7.378204345703125, 2.9496591091156006, 1.1852929592132568], [7.128204345703125, 2.9496591091156006, 1.1852930784225464], [6.878204345703125, 2.9496591091156006, 1.185293197631836], [6.628204345703125, 2.9496591091156006, 1.1852933168411255], [6.386723041534424, 2.9496591091156006, 1.1205886602401733], [6.145241737365723, 2.9496591091156006, 1.0558840036392212], [5.9037604331970215, 2.9496591091156006, 0.991179347038269], [5.66227912902832, 2.9496591091156006, 0.9264746904373169], [5.420797824859619, 2.9496591091156006, 0.8617700338363647], [5.179316520690918, 2.9496591091156006, 0.7970653772354126], [4.929316520690918, 2.9496591091156006, 0.7970654964447021], [4.679316520690918, 2.9496591091156006, 0.7970656156539917], [4.429316520690918, 2.9700686931610107, 0.7970657348632812], [4.179316520690918, 2.9680628776550293, 0.7970658540725708], [3.9378349781036377, 2.963655948638916, 0.7323611974716187], [3.6963534355163574, 2.959249258041382, 0.6676565408706665]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 458, "episode_id": "459", "scene_id": "sKLMLpTHeUy", "instruction": "Walk past the table and enter the doorway to the left. Walk straight through the kitchen area and stop once you reach the first couch in the outside area. ", "start_position": [16.434600830078125, 2.9496591091156006, 0.14930899441242218], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [3.4271600246429443, 2.950739860534668, 0.6535829901695251], "goal_radius": 3.0, "reference_path": "[[16.434600830078125, 2.9496591091156006, 0.14930899441242218], [14.785900115966797, 2.9496591091156006, 1.2099100351333618], [12.860300064086914, 2.9496591091156006, 1.4454699754714966], [10.847999572753906, 2.9496591091156006, 1.2206699848175049], [9.060680389404297, 2.9496591091156006, 1.151610016822815], [5.9668498039245605, 2.9496591091156006, 1.056339979171753], [3.4271600246429443, 2.950739860534668, 0.6535829901695251]]", "geodesic_distance": 13.468184471130371, "gt_locations": "[[16.434600830078125, 2.9496591091156006, 0.14930899441242218], [16.309600830078125, 2.9496591091156006, 0.3658154010772705], [16.184600830078125, 2.9496591091156006, 0.5823217630386353], [15.968094825744629, 2.9496591091156006, 0.7073217630386353], [15.751588821411133, 2.9496591091156006, 0.8323217630386353], [15.535082817077637, 3.0352864265441895, 0.9573217630386353], [15.31857681274414, 3.1198718547821045, 1.1205859184265137], [15.077095031738281, 3.0250048637390137, 1.185290813446045], [14.835613250732422, 2.9496591091156006, 1.2499957084655762], [14.594131469726562, 2.9496591091156006, 1.3147006034851074], [14.352649688720703, 2.9496591091156006, 1.3794054985046387], [14.102649688720703, 2.9496591091156006, 1.3794054985046387], [13.852649688720703, 2.9496591091156006, 1.3794054985046387], [13.602649688720703, 2.9496591091156006, 1.3794054985046387], [13.352649688720703, 2.9496591091156006, 1.3794054985046387], [13.102649688720703, 2.9496591091156006, 1.3794054985046387], [12.852649688720703, 2.9496591091156006, 1.3794054985046387], [12.602649688720703, 2.9496591091156006, 1.3794054985046387], [12.352649688720703, 3.036393404006958, 1.3794054985046387], [12.102649688720703, 3.036539077758789, 1.3794054985046387], [11.852649688720703, 2.958869218826294, 1.3794054985046387], [11.602649688720703, 2.9496591091156006, 1.3794054985046387], [11.361167907714844, 2.9496591091156006, 1.314700722694397], [11.119686126708984, 2.9496591091156006, 1.2499959468841553], [10.869686126708984, 2.9496591091156006, 1.2499960660934448], [10.619686126708984, 2.9496591091156006, 1.2499961853027344], [10.369686126708984, 2.9496591091156006, 1.249996304512024], [10.119686126708984, 2.9496591091156006, 1.2499964237213135], [9.869686126708984, 2.9496591091156006, 1.249996542930603], [9.619686126708984, 2.9496591091156006, 1.2499966621398926], [9.378204345703125, 2.9496591091156006, 1.1852920055389404], [9.128204345703125, 2.9496591091156006, 1.18529212474823], [8.878204345703125, 2.9496591091156006, 1.1852922439575195], [8.628204345703125, 2.9496591091156006, 1.185292363166809], [8.378204345703125, 2.9496591091156006, 1.1852924823760986], [8.128204345703125, 2.9496591091156006, 1.1852926015853882], [7.878204345703125, 2.9496591091156006, 1.1852927207946777], [7.628204345703125, 2.9496591091156006, 1.1852928400039673], [7.378204345703125, 2.9496591091156006, 1.1852929592132568], [7.128204345703125, 2.9496591091156006, 1.1852930784225464], [6.878204345703125, 2.9496591091156006, 1.185293197631836], [6.628204345703125, 2.9496591091156006, 1.1852933168411255], [6.386723041534424, 2.9496591091156006, 1.1205886602401733], [6.145241737365723, 2.9496591091156006, 1.0558840036392212], [5.9037604331970215, 2.9496591091156006, 0.991179347038269], [5.66227912902832, 2.9496591091156006, 0.9264746904373169], [5.420797824859619, 2.9496591091156006, 0.8617700338363647], [5.179316520690918, 2.9496591091156006, 0.7970653772354126], [4.929316520690918, 2.9496591091156006, 0.7970654964447021], [4.679316520690918, 2.9496591091156006, 0.7970656156539917], [4.429316520690918, 2.9700686931610107, 0.7970657348632812], [4.179316520690918, 2.9680628776550293, 0.7970658540725708], [3.9378349781036377, 2.963655948638916, 0.7323611974716187], [3.6963534355163574, 2.959249258041382, 0.6676565408706665]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 459, "episode_id": "460", "scene_id": "sKLMLpTHeUy", "instruction": "Go around the table to the left and go straight through the doorway into the kitchen. Continue through the kitchen and stop in front of the grey sofa with zebra pillows on it. ", "start_position": [16.434600830078125, 2.9496591091156006, 0.14930899441242218], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [3.4271600246429443, 2.950739860534668, 0.6535829901695251], "goal_radius": 3.0, "reference_path": "[[16.434600830078125, 2.9496591091156006, 0.14930899441242218], [14.785900115966797, 2.9496591091156006, 1.2099100351333618], [12.860300064086914, 2.9496591091156006, 1.4454699754714966], [10.847999572753906, 2.9496591091156006, 1.2206699848175049], [9.060680389404297, 2.9496591091156006, 1.151610016822815], [5.9668498039245605, 2.9496591091156006, 1.056339979171753], [3.4271600246429443, 2.950739860534668, 0.6535829901695251]]", "geodesic_distance": 13.468184471130371, "gt_locations": "[[16.434600830078125, 2.9496591091156006, 0.14930899441242218], [16.309600830078125, 2.9496591091156006, 0.3658154010772705], [16.184600830078125, 2.9496591091156006, 0.5823217630386353], [15.968094825744629, 2.9496591091156006, 0.7073217630386353], [15.751588821411133, 2.9496591091156006, 0.8323217630386353], [15.535082817077637, 3.0352864265441895, 0.9573217630386353], [15.31857681274414, 3.1198718547821045, 1.1205859184265137], [15.077095031738281, 3.0250048637390137, 1.185290813446045], [14.835613250732422, 2.9496591091156006, 1.2499957084655762], [14.594131469726562, 2.9496591091156006, 1.3147006034851074], [14.352649688720703, 2.9496591091156006, 1.3794054985046387], [14.102649688720703, 2.9496591091156006, 1.3794054985046387], [13.852649688720703, 2.9496591091156006, 1.3794054985046387], [13.602649688720703, 2.9496591091156006, 1.3794054985046387], [13.352649688720703, 2.9496591091156006, 1.3794054985046387], [13.102649688720703, 2.9496591091156006, 1.3794054985046387], [12.852649688720703, 2.9496591091156006, 1.3794054985046387], [12.602649688720703, 2.9496591091156006, 1.3794054985046387], [12.352649688720703, 3.036393404006958, 1.3794054985046387], [12.102649688720703, 3.036539077758789, 1.3794054985046387], [11.852649688720703, 2.958869218826294, 1.3794054985046387], [11.602649688720703, 2.9496591091156006, 1.3794054985046387], [11.361167907714844, 2.9496591091156006, 1.314700722694397], [11.119686126708984, 2.9496591091156006, 1.2499959468841553], [10.869686126708984, 2.9496591091156006, 1.2499960660934448], [10.619686126708984, 2.9496591091156006, 1.2499961853027344], [10.369686126708984, 2.9496591091156006, 1.249996304512024], [10.119686126708984, 2.9496591091156006, 1.2499964237213135], [9.869686126708984, 2.9496591091156006, 1.249996542930603], [9.619686126708984, 2.9496591091156006, 1.2499966621398926], [9.378204345703125, 2.9496591091156006, 1.1852920055389404], [9.128204345703125, 2.9496591091156006, 1.18529212474823], [8.878204345703125, 2.9496591091156006, 1.1852922439575195], [8.628204345703125, 2.9496591091156006, 1.185292363166809], [8.378204345703125, 2.9496591091156006, 1.1852924823760986], [8.128204345703125, 2.9496591091156006, 1.1852926015853882], [7.878204345703125, 2.9496591091156006, 1.1852927207946777], [7.628204345703125, 2.9496591091156006, 1.1852928400039673], [7.378204345703125, 2.9496591091156006, 1.1852929592132568], [7.128204345703125, 2.9496591091156006, 1.1852930784225464], [6.878204345703125, 2.9496591091156006, 1.185293197631836], [6.628204345703125, 2.9496591091156006, 1.1852933168411255], [6.386723041534424, 2.9496591091156006, 1.1205886602401733], [6.145241737365723, 2.9496591091156006, 1.0558840036392212], [5.9037604331970215, 2.9496591091156006, 0.991179347038269], [5.66227912902832, 2.9496591091156006, 0.9264746904373169], [5.420797824859619, 2.9496591091156006, 0.8617700338363647], [5.179316520690918, 2.9496591091156006, 0.7970653772354126], [4.929316520690918, 2.9496591091156006, 0.7970654964447021], [4.679316520690918, 2.9496591091156006, 0.7970656156539917], [4.429316520690918, 2.9700686931610107, 0.7970657348632812], [4.179316520690918, 2.9680628776550293, 0.7970658540725708], [3.9378349781036377, 2.963655948638916, 0.7323611974716187], [3.6963534355163574, 2.959249258041382, 0.6676565408706665]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 460, "episode_id": "461", "scene_id": "cV4RVeZvu5T", "instruction": "Head upstairs and wait in the doorway near the bedroom. ", "start_position": [-3.8860700130462646, 0.9184679985046387, 8.878239631652832], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-0.6013299822807312, 3.3184680938720703, 0.34439998865127563], "goal_radius": 3.0, "reference_path": "[[-3.8860700130462646, 0.9184679985046387, 8.878239631652832], [0.038115598261356354, 0.9184679985046387, 6.084650039672852], [0.07007530331611633, 1.5828943252563477, 4.697090148925781], [0.04109000042080879, 2.213414192199707, 3.7014000415802], [0.05175580084323883, 3.1154348850250244, 2.241029977798462], [0.05257119983434677, 3.3184680938720703, 0.9724209904670715], [-0.6013299822807312, 3.3184680938720703, 0.34439998865127563]]", "geodesic_distance": 11.064347267150879, "gt_locations": "[[-3.8860700130462646, 0.9184679985046387, 8.878239631652832], [-3.6695635318756104, 0.9184679985046387, 8.753239631652832], [-3.453057050704956, 0.9184679985046387, 8.628239631652832], [-3.2365505695343018, 0.9184679985046387, 8.503239631652832], [-3.0200440883636475, 0.9184679985046387, 8.378239631652832], [-2.8432674407958984, 0.9184679985046387, 8.201462745666504], [-2.6664907932281494, 0.9184679985046387, 8.024685859680176], [-2.4897141456604004, 0.9184679985046387, 7.847908973693848], [-2.3129374980926514, 0.9184679985046387, 7.6711320877075195], [-2.1361608505249023, 0.9184679985046387, 7.494355201721191], [-1.9196544885635376, 0.9184679985046387, 7.369355201721191], [-1.7031481266021729, 0.9184679985046387, 7.244355201721191], [-1.486641764640808, 0.9184679985046387, 7.119355201721191], [-1.361641764640808, 0.9184679985046387, 6.902848720550537], [-1.1451354026794434, 0.9184679985046387, 6.777848720550537], [-0.9286290407180786, 0.9184679985046387, 6.652848720550537], [-0.7121226787567139, 0.9184679985046387, 6.527848720550537], [-0.4956163167953491, 0.9184679985046387, 6.402848720550537], [-0.2791099548339844, 0.9184679985046387, 6.277848720550537], [-0.21093320846557617, 0.9184679985046387, 6.027848720550537], [-0.14622840285301208, 0.9184679985046387, 5.786367416381836], [-0.0815236046910286, 1.0656399726867676, 5.544886112213135], [-0.016818806529045105, 1.213968276977539, 5.303404808044434], [0.047885991632938385, 1.362296462059021, 5.061923503875732], [0.11259078979492188, 1.510624647140503, 4.820442199707031], [0.17729559540748596, 1.6589529514312744, 4.57896089553833], [0.24200040102005005, 1.8072810173034668, 4.337479591369629], [0.24200043082237244, 1.9577407836914062, 4.087479591369629], [0.17729568481445312, 2.1000781059265137, 3.8459980487823486], [0.11259094625711441, 2.242415189743042, 3.6045165061950684], [0.047886207699775696, 2.446413516998291, 3.363034963607788], [-0.01681853085756302, 2.657689332962036, 3.121553421020508], [-0.01681850105524063, 2.8133835792541504, 2.871553421020508], [0.04788629710674286, 2.9017250537872314, 2.6300718784332275], [0.11259109526872635, 2.9900665283203125, 2.3885903358459473], [0.11259112507104874, 3.1562249660491943, 2.1385903358459473], [0.11259115487337112, 3.159564971923828, 1.8885903358459473], [0.11259118467569351, 3.162905216217041, 1.6385903358459473], [0.1125912144780159, 3.221869945526123, 1.3885903358459473], [-0.012408778071403503, 3.272989511489868, 1.1720839738845825], [-0.1374087631702423, 3.3184680938720703, 0.9555776119232178], [-0.2624087631702423, 3.3184680938720703, 0.739071249961853], [-0.3874087631702423, 3.3184680938720703, 0.5225648880004883]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 3, 3, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 461, "episode_id": "462", "scene_id": "cV4RVeZvu5T", "instruction": "Walk past the bottle of champagne on the the table to the left. Make a right opposite the back of the black leather chair. Walk up stairs. Wait at the arched doorway at the top of the stair landing. ", "start_position": [-3.8860700130462646, 0.9184679985046387, 8.878239631652832], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-0.6013299822807312, 3.3184680938720703, 0.34439998865127563], "goal_radius": 3.0, "reference_path": "[[-3.8860700130462646, 0.9184679985046387, 8.878239631652832], [0.038115598261356354, 0.9184679985046387, 6.084650039672852], [0.07007530331611633, 1.5828943252563477, 4.697090148925781], [0.04109000042080879, 2.213414192199707, 3.7014000415802], [0.05175580084323883, 3.1154348850250244, 2.241029977798462], [0.05257119983434677, 3.3184680938720703, 0.9724209904670715], [-0.6013299822807312, 3.3184680938720703, 0.34439998865127563]]", "geodesic_distance": 11.064347267150879, "gt_locations": "[[-3.8860700130462646, 0.9184679985046387, 8.878239631652832], [-3.6695635318756104, 0.9184679985046387, 8.753239631652832], [-3.453057050704956, 0.9184679985046387, 8.628239631652832], [-3.2365505695343018, 0.9184679985046387, 8.503239631652832], [-3.0200440883636475, 0.9184679985046387, 8.378239631652832], [-2.8432674407958984, 0.9184679985046387, 8.201462745666504], [-2.6664907932281494, 0.9184679985046387, 8.024685859680176], [-2.4897141456604004, 0.9184679985046387, 7.847908973693848], [-2.3129374980926514, 0.9184679985046387, 7.6711320877075195], [-2.1361608505249023, 0.9184679985046387, 7.494355201721191], [-1.9196544885635376, 0.9184679985046387, 7.369355201721191], [-1.7031481266021729, 0.9184679985046387, 7.244355201721191], [-1.486641764640808, 0.9184679985046387, 7.119355201721191], [-1.361641764640808, 0.9184679985046387, 6.902848720550537], [-1.1451354026794434, 0.9184679985046387, 6.777848720550537], [-0.9286290407180786, 0.9184679985046387, 6.652848720550537], [-0.7121226787567139, 0.9184679985046387, 6.527848720550537], [-0.4956163167953491, 0.9184679985046387, 6.402848720550537], [-0.2791099548339844, 0.9184679985046387, 6.277848720550537], [-0.21093320846557617, 0.9184679985046387, 6.027848720550537], [-0.14622840285301208, 0.9184679985046387, 5.786367416381836], [-0.0815236046910286, 1.0656399726867676, 5.544886112213135], [-0.016818806529045105, 1.213968276977539, 5.303404808044434], [0.047885991632938385, 1.362296462059021, 5.061923503875732], [0.11259078979492188, 1.510624647140503, 4.820442199707031], [0.17729559540748596, 1.6589529514312744, 4.57896089553833], [0.24200040102005005, 1.8072810173034668, 4.337479591369629], [0.24200043082237244, 1.9577407836914062, 4.087479591369629], [0.17729568481445312, 2.1000781059265137, 3.8459980487823486], [0.11259094625711441, 2.242415189743042, 3.6045165061950684], [0.047886207699775696, 2.446413516998291, 3.363034963607788], [-0.01681853085756302, 2.657689332962036, 3.121553421020508], [-0.01681850105524063, 2.8133835792541504, 2.871553421020508], [0.04788629710674286, 2.9017250537872314, 2.6300718784332275], [0.11259109526872635, 2.9900665283203125, 2.3885903358459473], [0.11259112507104874, 3.1562249660491943, 2.1385903358459473], [0.11259115487337112, 3.159564971923828, 1.8885903358459473], [0.11259118467569351, 3.162905216217041, 1.6385903358459473], [0.1125912144780159, 3.221869945526123, 1.3885903358459473], [-0.012408778071403503, 3.272989511489868, 1.1720839738845825], [-0.1374087631702423, 3.3184680938720703, 0.9555776119232178], [-0.2624087631702423, 3.3184680938720703, 0.739071249961853], [-0.3874087631702423, 3.3184680938720703, 0.5225648880004883]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 3, 3, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 462, "episode_id": "463", "scene_id": "cV4RVeZvu5T", "instruction": "Turn around and enter the house. Once inside, turn right and enter the door to the left. Turn left and go up to the top of the stairs. At the stop of the stairs, turn left and stop right in front of the door to the bedroom. ", "start_position": [-3.8860700130462646, 0.9184679985046387, 8.878239631652832], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-0.6013299822807312, 3.3184680938720703, 0.34439998865127563], "goal_radius": 3.0, "reference_path": "[[-3.8860700130462646, 0.9184679985046387, 8.878239631652832], [0.038115598261356354, 0.9184679985046387, 6.084650039672852], [0.07007530331611633, 1.5828943252563477, 4.697090148925781], [0.04109000042080879, 2.213414192199707, 3.7014000415802], [0.05175580084323883, 3.1154348850250244, 2.241029977798462], [0.05257119983434677, 3.3184680938720703, 0.9724209904670715], [-0.6013299822807312, 3.3184680938720703, 0.34439998865127563]]", "geodesic_distance": 11.064347267150879, "gt_locations": "[[-3.8860700130462646, 0.9184679985046387, 8.878239631652832], [-3.6695635318756104, 0.9184679985046387, 8.753239631652832], [-3.453057050704956, 0.9184679985046387, 8.628239631652832], [-3.2365505695343018, 0.9184679985046387, 8.503239631652832], [-3.0200440883636475, 0.9184679985046387, 8.378239631652832], [-2.8432674407958984, 0.9184679985046387, 8.201462745666504], [-2.6664907932281494, 0.9184679985046387, 8.024685859680176], [-2.4897141456604004, 0.9184679985046387, 7.847908973693848], [-2.3129374980926514, 0.9184679985046387, 7.6711320877075195], [-2.1361608505249023, 0.9184679985046387, 7.494355201721191], [-1.9196544885635376, 0.9184679985046387, 7.369355201721191], [-1.7031481266021729, 0.9184679985046387, 7.244355201721191], [-1.486641764640808, 0.9184679985046387, 7.119355201721191], [-1.361641764640808, 0.9184679985046387, 6.902848720550537], [-1.1451354026794434, 0.9184679985046387, 6.777848720550537], [-0.9286290407180786, 0.9184679985046387, 6.652848720550537], [-0.7121226787567139, 0.9184679985046387, 6.527848720550537], [-0.4956163167953491, 0.9184679985046387, 6.402848720550537], [-0.2791099548339844, 0.9184679985046387, 6.277848720550537], [-0.21093320846557617, 0.9184679985046387, 6.027848720550537], [-0.14622840285301208, 0.9184679985046387, 5.786367416381836], [-0.0815236046910286, 1.0656399726867676, 5.544886112213135], [-0.016818806529045105, 1.213968276977539, 5.303404808044434], [0.047885991632938385, 1.362296462059021, 5.061923503875732], [0.11259078979492188, 1.510624647140503, 4.820442199707031], [0.17729559540748596, 1.6589529514312744, 4.57896089553833], [0.24200040102005005, 1.8072810173034668, 4.337479591369629], [0.24200043082237244, 1.9577407836914062, 4.087479591369629], [0.17729568481445312, 2.1000781059265137, 3.8459980487823486], [0.11259094625711441, 2.242415189743042, 3.6045165061950684], [0.047886207699775696, 2.446413516998291, 3.363034963607788], [-0.01681853085756302, 2.657689332962036, 3.121553421020508], [-0.01681850105524063, 2.8133835792541504, 2.871553421020508], [0.04788629710674286, 2.9017250537872314, 2.6300718784332275], [0.11259109526872635, 2.9900665283203125, 2.3885903358459473], [0.11259112507104874, 3.1562249660491943, 2.1385903358459473], [0.11259115487337112, 3.159564971923828, 1.8885903358459473], [0.11259118467569351, 3.162905216217041, 1.6385903358459473], [0.1125912144780159, 3.221869945526123, 1.3885903358459473], [-0.012408778071403503, 3.272989511489868, 1.1720839738845825], [-0.1374087631702423, 3.3184680938720703, 0.9555776119232178], [-0.2624087631702423, 3.3184680938720703, 0.739071249961853], [-0.3874087631702423, 3.3184680938720703, 0.5225648880004883]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 3, 3, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 463, "episode_id": "464", "scene_id": "5LpN3gDmAk7", "instruction": "Walk outside and pass the outdoor furniture.  Make a left before you reach the table, and enter the inside room on the left.  Wait here. ", "start_position": [12.651700019836426, -1.0843499898910522, 10.075900077819824], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [10.330499649047852, -1.2373440265655518, -0.5928670167922974], "goal_radius": 3.0, "reference_path": "[[12.651700019836426, -1.0843499898910522, 10.075900077819824], [12.949199676513672, -1.0843499898910522, 8.805109977722168], [13.14169979095459, -1.0843499898910522, 7.939700126647949], [13.42609977722168, -1.2626163959503174, 4.55072021484375], [13.304300308227539, -1.2843499183654785, 2.7495899200439453], [11.023699760437012, -1.2843499183654785, -0.28224000334739685], [10.330499649047852, -1.2373440265655518, -0.5928670167922974]]", "geodesic_distance": 11.919578552246094, "gt_locations": "[[12.651700019836426, -1.0843499898910522, 10.075900077819824], [12.716404914855957, -1.0843499898910522, 9.834418296813965], [12.781109809875488, -1.0843499898910522, 9.592936515808105], [12.84581470489502, -1.0843499898910522, 9.351454734802246], [12.91051959991455, -1.0843499898910522, 9.109972953796387], [12.975224494934082, -1.0843499898910522, 8.868491172790527], [13.039929389953613, -1.0843499898910522, 8.627009391784668], [13.104634284973145, -1.0843499898910522, 8.385527610778809], [13.104634284973145, -1.0843499898910522, 8.135527610778809], [13.104634284973145, -1.0843499898910522, 7.885527610778809], [13.104634284973145, -1.0843499898910522, 7.635527610778809], [13.104634284973145, -1.0843499898910522, 7.385527610778809], [13.104634284973145, -1.0843499898910522, 7.135527610778809], [13.104634284973145, -1.0843499898910522, 6.885527610778809], [13.104634284973145, -1.0843499898910522, 6.635527610778809], [13.104634284973145, -1.0843499898910522, 6.385527610778809], [13.169339179992676, -1.1015363931655884, 6.144046306610107], [13.234044075012207, -1.1253641843795776, 5.902565002441406], [13.298748970031738, -1.149191975593567, 5.661083698272705], [13.36345386505127, -1.1730197668075562, 5.419602394104004], [13.36345386505127, -1.1914006471633911, 5.169602394104004], [13.36345386505127, -1.2185587882995605, 4.919602394104004], [13.36345386505127, -1.2448087930679321, 4.669602394104004], [13.36345386505127, -1.2710587978363037, 4.419602394104004], [13.36345386505127, -1.2843499183654785, 4.169602394104004], [13.36345386505127, -1.2843499183654785, 3.919602394104004], [13.36345386505127, -1.2843499183654785, 3.669602394104004], [13.36345386505127, -1.2843499183654785, 3.419602394104004], [13.36345386505127, -1.2843499183654785, 3.169602394104004], [13.36345386505127, -1.2843499183654785, 2.919602394104004], [13.298748970031738, -1.2843499183654785, 2.6781208515167236], [13.234044075012207, -1.2843499183654785, 2.4366393089294434], [13.169339179992676, -1.2843499183654785, 2.195157766342163], [13.104634284973145, -1.2843499183654785, 1.9536763429641724], [12.979634284973145, -1.2843499183654785, 1.7371699810028076], [12.804201126098633, -1.2843499183654785, 1.5469560623168945], [12.679201126098633, -1.2843499183654785, 1.3304497003555298], [12.502424240112305, -1.2843499183654785, 1.1536729335784912], [12.325647354125977, -1.2843499183654785, 0.9768962264060974], [12.148870468139648, -1.2843499183654785, 0.8001195192337036], [11.97209358215332, -1.2843499183654785, 0.6233428120613098], [11.795316696166992, -1.2843499183654785, 0.446566104888916], [11.618539810180664, -1.2843499183654785, 0.2697893977165222], [11.441762924194336, -1.2843499183654785, 0.09301269054412842], [11.264986038208008, -1.2843499183654785, -0.08376401662826538], [11.048480033874512, -1.2843499183654785, -0.20876404643058777], [10.831974029541016, -1.2843499183654785, -0.33376407623291016], [10.61546802520752, -1.2807555198669434, -0.45876410603523254]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 464, "episode_id": "465", "scene_id": "5LpN3gDmAk7", "instruction": "Turn around and exit on to the terrace. Cross the grey couches and turn left to enter the house gain. ", "start_position": [12.651700019836426, -1.0843499898910522, 10.075900077819824], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [10.330499649047852, -1.2373440265655518, -0.5928670167922974], "goal_radius": 3.0, "reference_path": "[[12.651700019836426, -1.0843499898910522, 10.075900077819824], [12.949199676513672, -1.0843499898910522, 8.805109977722168], [13.14169979095459, -1.0843499898910522, 7.939700126647949], [13.42609977722168, -1.2626163959503174, 4.55072021484375], [13.304300308227539, -1.2843499183654785, 2.7495899200439453], [11.023699760437012, -1.2843499183654785, -0.28224000334739685], [10.330499649047852, -1.2373440265655518, -0.5928670167922974]]", "geodesic_distance": 11.919578552246094, "gt_locations": "[[12.651700019836426, -1.0843499898910522, 10.075900077819824], [12.716404914855957, -1.0843499898910522, 9.834418296813965], [12.781109809875488, -1.0843499898910522, 9.592936515808105], [12.84581470489502, -1.0843499898910522, 9.351454734802246], [12.91051959991455, -1.0843499898910522, 9.109972953796387], [12.975224494934082, -1.0843499898910522, 8.868491172790527], [13.039929389953613, -1.0843499898910522, 8.627009391784668], [13.104634284973145, -1.0843499898910522, 8.385527610778809], [13.104634284973145, -1.0843499898910522, 8.135527610778809], [13.104634284973145, -1.0843499898910522, 7.885527610778809], [13.104634284973145, -1.0843499898910522, 7.635527610778809], [13.104634284973145, -1.0843499898910522, 7.385527610778809], [13.104634284973145, -1.0843499898910522, 7.135527610778809], [13.104634284973145, -1.0843499898910522, 6.885527610778809], [13.104634284973145, -1.0843499898910522, 6.635527610778809], [13.104634284973145, -1.0843499898910522, 6.385527610778809], [13.169339179992676, -1.1015363931655884, 6.144046306610107], [13.234044075012207, -1.1253641843795776, 5.902565002441406], [13.298748970031738, -1.149191975593567, 5.661083698272705], [13.36345386505127, -1.1730197668075562, 5.419602394104004], [13.36345386505127, -1.1914006471633911, 5.169602394104004], [13.36345386505127, -1.2185587882995605, 4.919602394104004], [13.36345386505127, -1.2448087930679321, 4.669602394104004], [13.36345386505127, -1.2710587978363037, 4.419602394104004], [13.36345386505127, -1.2843499183654785, 4.169602394104004], [13.36345386505127, -1.2843499183654785, 3.919602394104004], [13.36345386505127, -1.2843499183654785, 3.669602394104004], [13.36345386505127, -1.2843499183654785, 3.419602394104004], [13.36345386505127, -1.2843499183654785, 3.169602394104004], [13.36345386505127, -1.2843499183654785, 2.919602394104004], [13.298748970031738, -1.2843499183654785, 2.6781208515167236], [13.234044075012207, -1.2843499183654785, 2.4366393089294434], [13.169339179992676, -1.2843499183654785, 2.195157766342163], [13.104634284973145, -1.2843499183654785, 1.9536763429641724], [12.979634284973145, -1.2843499183654785, 1.7371699810028076], [12.804201126098633, -1.2843499183654785, 1.5469560623168945], [12.679201126098633, -1.2843499183654785, 1.3304497003555298], [12.502424240112305, -1.2843499183654785, 1.1536729335784912], [12.325647354125977, -1.2843499183654785, 0.9768962264060974], [12.148870468139648, -1.2843499183654785, 0.8001195192337036], [11.97209358215332, -1.2843499183654785, 0.6233428120613098], [11.795316696166992, -1.2843499183654785, 0.446566104888916], [11.618539810180664, -1.2843499183654785, 0.2697893977165222], [11.441762924194336, -1.2843499183654785, 0.09301269054412842], [11.264986038208008, -1.2843499183654785, -0.08376401662826538], [11.048480033874512, -1.2843499183654785, -0.20876404643058777], [10.831974029541016, -1.2843499183654785, -0.33376407623291016], [10.61546802520752, -1.2807555198669434, -0.45876410603523254]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 465, "episode_id": "466", "scene_id": "5LpN3gDmAk7", "instruction": "Exit the house and walk past the lounges on the patio.Wait at the doorway to the office on the left. ", "start_position": [12.651700019836426, -1.0843499898910522, 10.075900077819824], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [10.330499649047852, -1.2373440265655518, -0.5928670167922974], "goal_radius": 3.0, "reference_path": "[[12.651700019836426, -1.0843499898910522, 10.075900077819824], [12.949199676513672, -1.0843499898910522, 8.805109977722168], [13.14169979095459, -1.0843499898910522, 7.939700126647949], [13.42609977722168, -1.2626163959503174, 4.55072021484375], [13.304300308227539, -1.2843499183654785, 2.7495899200439453], [11.023699760437012, -1.2843499183654785, -0.28224000334739685], [10.330499649047852, -1.2373440265655518, -0.5928670167922974]]", "geodesic_distance": 11.919578552246094, "gt_locations": "[[12.651700019836426, -1.0843499898910522, 10.075900077819824], [12.716404914855957, -1.0843499898910522, 9.834418296813965], [12.781109809875488, -1.0843499898910522, 9.592936515808105], [12.84581470489502, -1.0843499898910522, 9.351454734802246], [12.91051959991455, -1.0843499898910522, 9.109972953796387], [12.975224494934082, -1.0843499898910522, 8.868491172790527], [13.039929389953613, -1.0843499898910522, 8.627009391784668], [13.104634284973145, -1.0843499898910522, 8.385527610778809], [13.104634284973145, -1.0843499898910522, 8.135527610778809], [13.104634284973145, -1.0843499898910522, 7.885527610778809], [13.104634284973145, -1.0843499898910522, 7.635527610778809], [13.104634284973145, -1.0843499898910522, 7.385527610778809], [13.104634284973145, -1.0843499898910522, 7.135527610778809], [13.104634284973145, -1.0843499898910522, 6.885527610778809], [13.104634284973145, -1.0843499898910522, 6.635527610778809], [13.104634284973145, -1.0843499898910522, 6.385527610778809], [13.169339179992676, -1.1015363931655884, 6.144046306610107], [13.234044075012207, -1.1253641843795776, 5.902565002441406], [13.298748970031738, -1.149191975593567, 5.661083698272705], [13.36345386505127, -1.1730197668075562, 5.419602394104004], [13.36345386505127, -1.1914006471633911, 5.169602394104004], [13.36345386505127, -1.2185587882995605, 4.919602394104004], [13.36345386505127, -1.2448087930679321, 4.669602394104004], [13.36345386505127, -1.2710587978363037, 4.419602394104004], [13.36345386505127, -1.2843499183654785, 4.169602394104004], [13.36345386505127, -1.2843499183654785, 3.919602394104004], [13.36345386505127, -1.2843499183654785, 3.669602394104004], [13.36345386505127, -1.2843499183654785, 3.419602394104004], [13.36345386505127, -1.2843499183654785, 3.169602394104004], [13.36345386505127, -1.2843499183654785, 2.919602394104004], [13.298748970031738, -1.2843499183654785, 2.6781208515167236], [13.234044075012207, -1.2843499183654785, 2.4366393089294434], [13.169339179992676, -1.2843499183654785, 2.195157766342163], [13.104634284973145, -1.2843499183654785, 1.9536763429641724], [12.979634284973145, -1.2843499183654785, 1.7371699810028076], [12.804201126098633, -1.2843499183654785, 1.5469560623168945], [12.679201126098633, -1.2843499183654785, 1.3304497003555298], [12.502424240112305, -1.2843499183654785, 1.1536729335784912], [12.325647354125977, -1.2843499183654785, 0.9768962264060974], [12.148870468139648, -1.2843499183654785, 0.8001195192337036], [11.97209358215332, -1.2843499183654785, 0.6233428120613098], [11.795316696166992, -1.2843499183654785, 0.446566104888916], [11.618539810180664, -1.2843499183654785, 0.2697893977165222], [11.441762924194336, -1.2843499183654785, 0.09301269054412842], [11.264986038208008, -1.2843499183654785, -0.08376401662826538], [11.048480033874512, -1.2843499183654785, -0.20876404643058777], [10.831974029541016, -1.2843499183654785, -0.33376407623291016], [10.61546802520752, -1.2807555198669434, -0.45876410603523254]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 466, "episode_id": "467", "scene_id": "sT4fr6TAbpF", "instruction": "Walk down the hall and wait in the doorway to the dining area. ", "start_position": [9.695520401000977, 0.05631500482559204, -20.76180076599121], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.109010219573975, 0.05631500482559204, -12.253600120544434], "goal_radius": 3.0, "reference_path": "[[9.695520401000977, 0.05631500482559204, -20.76180076599121], [8.534520149230957, 0.05631500482559204, -17.335399627685547], [8.485830307006836, 0.05631500482559204, -15.409500122070312], [8.507360458374023, 0.05631500482559204, -14.0556001663208], [7.685589790344238, 0.05631500482559204, -12.298100471496582], [6.109010219573975, 0.05631500482559204, -12.253600120544434]]", "geodesic_distance": 9.92729377746582, "gt_locations": "[[9.695520401000977, 0.05631500482559204, -20.76180076599121], [9.630815505981445, 0.05631500482559204, -20.52031898498535], [9.566110610961914, 0.05631500482559204, -20.278837203979492], [9.501405715942383, 0.05631500482559204, -20.037355422973633], [9.436700820922852, 0.05631500482559204, -19.795873641967773], [9.311700820922852, 0.05631500482559204, -19.57936668395996], [9.186700820922852, 0.05631500482559204, -19.36285972595215], [9.12199592590332, 0.05631500482559204, -19.12137794494629], [9.057291030883789, 0.05631500482559204, -18.87989616394043], [8.992586135864258, 0.05631500482559204, -18.63841438293457], [8.927881240844727, 0.05631500482559204, -18.39693260192871], [8.863176345825195, 0.05631500482559204, -18.15545082092285], [8.798471450805664, 0.05631500482559204, -17.913969039916992], [8.673471450805664, 0.05631500482559204, -17.69746208190918], [8.673471450805664, 0.05631500482559204, -17.44746208190918], [8.673471450805664, 0.05631500482559204, -17.19746208190918], [8.673471450805664, 0.05631500482559204, -16.94746208190918], [8.673471450805664, 0.05631500482559204, -16.69746208190918], [8.673471450805664, 0.05631500482559204, -16.44746208190918], [8.608766555786133, 0.05631500482559204, -16.20598030090332], [8.544061660766602, 0.05631500482559204, -15.964498519897461], [8.47935676574707, 0.05631500482559204, -15.723016738891602], [8.47935676574707, 0.05631500482559204, -15.473016738891602], [8.47935676574707, 0.05631500482559204, -15.223016738891602], [8.47935676574707, 0.05631500482559204, -14.973016738891602], [8.47935676574707, 0.05631500482559204, -14.723016738891602], [8.47935676574707, 0.05631500482559204, -14.473016738891602], [8.414651870727539, 0.05631500482559204, -14.231534957885742], [8.349946975708008, 0.05631500482559204, -13.990053176879883], [8.285242080688477, 0.05631500482559204, -13.748571395874023], [8.220537185668945, 0.05631500482559204, -13.507089614868164], [8.155832290649414, 0.05631500482559204, -13.265607833862305], [8.030832290649414, 0.05631500482559204, -13.049101829528809], [7.966127395629883, 0.05631500482559204, -12.80762004852295], [7.841127395629883, 0.05631500482559204, -12.591114044189453], [7.599646091461182, 0.05631500482559204, -12.526409149169922], [7.3581647872924805, 0.05631500482559204, -12.46170425415039], [7.116683483123779, 0.05631500482559204, -12.39699935913086], [6.875202178955078, 0.05631500482559204, -12.332294464111328], [6.633720874786377, 0.05631500482559204, -12.267589569091797], [6.383720874786377, 0.05631500482559204, -12.267589569091797]]", "gt_actions": "[3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 467, "episode_id": "468", "scene_id": "sT4fr6TAbpF", "instruction": "Walk past the bed and continue forward, turning left at the first turn and stop at the door. ", "start_position": [9.695520401000977, 0.05631500482559204, -20.76180076599121], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.109010219573975, 0.05631500482559204, -12.253600120544434], "goal_radius": 3.0, "reference_path": "[[9.695520401000977, 0.05631500482559204, -20.76180076599121], [8.534520149230957, 0.05631500482559204, -17.335399627685547], [8.485830307006836, 0.05631500482559204, -15.409500122070312], [8.507360458374023, 0.05631500482559204, -14.0556001663208], [7.685589790344238, 0.05631500482559204, -12.298100471496582], [6.109010219573975, 0.05631500482559204, -12.253600120544434]]", "geodesic_distance": 9.92729377746582, "gt_locations": "[[9.695520401000977, 0.05631500482559204, -20.76180076599121], [9.630815505981445, 0.05631500482559204, -20.52031898498535], [9.566110610961914, 0.05631500482559204, -20.278837203979492], [9.501405715942383, 0.05631500482559204, -20.037355422973633], [9.436700820922852, 0.05631500482559204, -19.795873641967773], [9.311700820922852, 0.05631500482559204, -19.57936668395996], [9.186700820922852, 0.05631500482559204, -19.36285972595215], [9.12199592590332, 0.05631500482559204, -19.12137794494629], [9.057291030883789, 0.05631500482559204, -18.87989616394043], [8.992586135864258, 0.05631500482559204, -18.63841438293457], [8.927881240844727, 0.05631500482559204, -18.39693260192871], [8.863176345825195, 0.05631500482559204, -18.15545082092285], [8.798471450805664, 0.05631500482559204, -17.913969039916992], [8.673471450805664, 0.05631500482559204, -17.69746208190918], [8.673471450805664, 0.05631500482559204, -17.44746208190918], [8.673471450805664, 0.05631500482559204, -17.19746208190918], [8.673471450805664, 0.05631500482559204, -16.94746208190918], [8.673471450805664, 0.05631500482559204, -16.69746208190918], [8.673471450805664, 0.05631500482559204, -16.44746208190918], [8.608766555786133, 0.05631500482559204, -16.20598030090332], [8.544061660766602, 0.05631500482559204, -15.964498519897461], [8.47935676574707, 0.05631500482559204, -15.723016738891602], [8.47935676574707, 0.05631500482559204, -15.473016738891602], [8.47935676574707, 0.05631500482559204, -15.223016738891602], [8.47935676574707, 0.05631500482559204, -14.973016738891602], [8.47935676574707, 0.05631500482559204, -14.723016738891602], [8.47935676574707, 0.05631500482559204, -14.473016738891602], [8.414651870727539, 0.05631500482559204, -14.231534957885742], [8.349946975708008, 0.05631500482559204, -13.990053176879883], [8.285242080688477, 0.05631500482559204, -13.748571395874023], [8.220537185668945, 0.05631500482559204, -13.507089614868164], [8.155832290649414, 0.05631500482559204, -13.265607833862305], [8.030832290649414, 0.05631500482559204, -13.049101829528809], [7.966127395629883, 0.05631500482559204, -12.80762004852295], [7.841127395629883, 0.05631500482559204, -12.591114044189453], [7.599646091461182, 0.05631500482559204, -12.526409149169922], [7.3581647872924805, 0.05631500482559204, -12.46170425415039], [7.116683483123779, 0.05631500482559204, -12.39699935913086], [6.875202178955078, 0.05631500482559204, -12.332294464111328], [6.633720874786377, 0.05631500482559204, -12.267589569091797], [6.383720874786377, 0.05631500482559204, -12.267589569091797]]", "gt_actions": "[3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 468, "episode_id": "469", "scene_id": "sT4fr6TAbpF", "instruction": "Go forward past the bed. Turn right through door. Stop just inside door. ", "start_position": [9.695520401000977, 0.05631500482559204, -20.76180076599121], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.109010219573975, 0.05631500482559204, -12.253600120544434], "goal_radius": 3.0, "reference_path": "[[9.695520401000977, 0.05631500482559204, -20.76180076599121], [8.534520149230957, 0.05631500482559204, -17.335399627685547], [8.485830307006836, 0.05631500482559204, -15.409500122070312], [8.507360458374023, 0.05631500482559204, -14.0556001663208], [7.685589790344238, 0.05631500482559204, -12.298100471496582], [6.109010219573975, 0.05631500482559204, -12.253600120544434]]", "geodesic_distance": 9.92729377746582, "gt_locations": "[[9.695520401000977, 0.05631500482559204, -20.76180076599121], [9.630815505981445, 0.05631500482559204, -20.52031898498535], [9.566110610961914, 0.05631500482559204, -20.278837203979492], [9.501405715942383, 0.05631500482559204, -20.037355422973633], [9.436700820922852, 0.05631500482559204, -19.795873641967773], [9.311700820922852, 0.05631500482559204, -19.57936668395996], [9.186700820922852, 0.05631500482559204, -19.36285972595215], [9.12199592590332, 0.05631500482559204, -19.12137794494629], [9.057291030883789, 0.05631500482559204, -18.87989616394043], [8.992586135864258, 0.05631500482559204, -18.63841438293457], [8.927881240844727, 0.05631500482559204, -18.39693260192871], [8.863176345825195, 0.05631500482559204, -18.15545082092285], [8.798471450805664, 0.05631500482559204, -17.913969039916992], [8.673471450805664, 0.05631500482559204, -17.69746208190918], [8.673471450805664, 0.05631500482559204, -17.44746208190918], [8.673471450805664, 0.05631500482559204, -17.19746208190918], [8.673471450805664, 0.05631500482559204, -16.94746208190918], [8.673471450805664, 0.05631500482559204, -16.69746208190918], [8.673471450805664, 0.05631500482559204, -16.44746208190918], [8.608766555786133, 0.05631500482559204, -16.20598030090332], [8.544061660766602, 0.05631500482559204, -15.964498519897461], [8.47935676574707, 0.05631500482559204, -15.723016738891602], [8.47935676574707, 0.05631500482559204, -15.473016738891602], [8.47935676574707, 0.05631500482559204, -15.223016738891602], [8.47935676574707, 0.05631500482559204, -14.973016738891602], [8.47935676574707, 0.05631500482559204, -14.723016738891602], [8.47935676574707, 0.05631500482559204, -14.473016738891602], [8.414651870727539, 0.05631500482559204, -14.231534957885742], [8.349946975708008, 0.05631500482559204, -13.990053176879883], [8.285242080688477, 0.05631500482559204, -13.748571395874023], [8.220537185668945, 0.05631500482559204, -13.507089614868164], [8.155832290649414, 0.05631500482559204, -13.265607833862305], [8.030832290649414, 0.05631500482559204, -13.049101829528809], [7.966127395629883, 0.05631500482559204, -12.80762004852295], [7.841127395629883, 0.05631500482559204, -12.591114044189453], [7.599646091461182, 0.05631500482559204, -12.526409149169922], [7.3581647872924805, 0.05631500482559204, -12.46170425415039], [7.116683483123779, 0.05631500482559204, -12.39699935913086], [6.875202178955078, 0.05631500482559204, -12.332294464111328], [6.633720874786377, 0.05631500482559204, -12.267589569091797], [6.383720874786377, 0.05631500482559204, -12.267589569091797]]", "gt_actions": "[3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 469, "episode_id": "470", "scene_id": "b8cTxDM8gDG", "instruction": "Go straight down the hallway. Turn left on the last door. Turn left and go into the bathroom. Wait near the entrance. ", "start_position": [1.9487299919128418, 0.05327486991882324, 4.171329975128174], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [5.570149898529053, 0.05327486991882324, 2.0165200233459473], "goal_radius": 3.0, "reference_path": "[[1.9487299919128418, 0.05327486991882324, 4.171329975128174], [3.6977999210357666, 0.05327486991882324, 4.243619918823242], [6.190919876098633, 0.05327486991882324, 3.5635900497436523], [6.2899699211120605, 0.18903370201587677, 2.3562700748443604], [5.570149898529053, 0.05327486991882324, 2.0165200233459473]]", "geodesic_distance": 5.93776273727417, "gt_locations": "[[1.9487299919128418, 0.05327486991882324, 4.171329975128174], [2.198729991912842, 0.05327486991882324, 4.171329975128174], [2.448729991912842, 0.05327486991882324, 4.171329975128174], [2.698729991912842, 0.05327486991882324, 4.171329975128174], [2.948729991912842, 0.05327486991882324, 4.171329975128174], [3.198729991912842, 0.05327486991882324, 4.171329975128174], [3.448729991912842, 0.05327486991882324, 4.171329975128174], [3.698729991912842, 0.05327486991882324, 4.171329975128174], [3.948729991912842, 0.05327486991882324, 4.171329975128174], [4.190211296081543, 0.05327486991882324, 4.106625080108643], [4.431692600250244, 0.05327486991882324, 4.041920185089111], [4.673173904418945, 0.05327486991882324, 3.977215528488159], [4.923173904418945, 0.05327486991882324, 3.977215528488159], [5.173173904418945, 0.05327486991882324, 3.977215528488159], [5.4146552085876465, 0.05327486991882324, 3.912510871887207], [5.656136512756348, 0.05327486991882324, 3.847806215286255], [5.906136512756348, 0.05327486991882324, 3.847806215286255], [5.971932411193848, 0.05327486991882324, 3.6066362857818604], [6.036637306213379, 0.05327486991882324, 3.36515474319458], [6.10134220123291, 0.05327486991882324, 3.1236732006073], [6.166047096252441, 0.05327486991882324, 2.8821916580200195], [6.230751991271973, 0.11211195588111877, 2.6407101154327393], [6.0539751052856445, 0.10362723469734192, 2.4639334678649902], [5.877198219299316, 0.0961838886141777, 2.287156820297241]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 0]"}
{"id": 470, "episode_id": "471", "scene_id": "b8cTxDM8gDG", "instruction": "Turn around and walk straight. Turn around and walk out of the bathroom and walk over towards the bedroom closet. ", "start_position": [1.9487299919128418, 0.05327486991882324, 4.171329975128174], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [5.570149898529053, 0.05327486991882324, 2.0165200233459473], "goal_radius": 3.0, "reference_path": "[[1.9487299919128418, 0.05327486991882324, 4.171329975128174], [3.6977999210357666, 0.05327486991882324, 4.243619918823242], [6.190919876098633, 0.05327486991882324, 3.5635900497436523], [6.2899699211120605, 0.18903370201587677, 2.3562700748443604], [5.570149898529053, 0.05327486991882324, 2.0165200233459473]]", "geodesic_distance": 5.93776273727417, "gt_locations": "[[1.9487299919128418, 0.05327486991882324, 4.171329975128174], [2.198729991912842, 0.05327486991882324, 4.171329975128174], [2.448729991912842, 0.05327486991882324, 4.171329975128174], [2.698729991912842, 0.05327486991882324, 4.171329975128174], [2.948729991912842, 0.05327486991882324, 4.171329975128174], [3.198729991912842, 0.05327486991882324, 4.171329975128174], [3.448729991912842, 0.05327486991882324, 4.171329975128174], [3.698729991912842, 0.05327486991882324, 4.171329975128174], [3.948729991912842, 0.05327486991882324, 4.171329975128174], [4.190211296081543, 0.05327486991882324, 4.106625080108643], [4.431692600250244, 0.05327486991882324, 4.041920185089111], [4.673173904418945, 0.05327486991882324, 3.977215528488159], [4.923173904418945, 0.05327486991882324, 3.977215528488159], [5.173173904418945, 0.05327486991882324, 3.977215528488159], [5.4146552085876465, 0.05327486991882324, 3.912510871887207], [5.656136512756348, 0.05327486991882324, 3.847806215286255], [5.906136512756348, 0.05327486991882324, 3.847806215286255], [5.971932411193848, 0.05327486991882324, 3.6066362857818604], [6.036637306213379, 0.05327486991882324, 3.36515474319458], [6.10134220123291, 0.05327486991882324, 3.1236732006073], [6.166047096252441, 0.05327486991882324, 2.8821916580200195], [6.230751991271973, 0.11211195588111877, 2.6407101154327393], [6.0539751052856445, 0.10362723469734192, 2.4639334678649902], [5.877198219299316, 0.0961838886141777, 2.287156820297241]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 0]"}
{"id": 471, "episode_id": "472", "scene_id": "b8cTxDM8gDG", "instruction": "Turn around and go to the end of the hallway where the plant is and turn left to enter the bedroom. Once in the bedroom turn left to enter the bathroom. Stop in the doorway of the bathroom. ", "start_position": [1.9487299919128418, 0.05327486991882324, 4.171329975128174], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [5.570149898529053, 0.05327486991882324, 2.0165200233459473], "goal_radius": 3.0, "reference_path": "[[1.9487299919128418, 0.05327486991882324, 4.171329975128174], [3.6977999210357666, 0.05327486991882324, 4.243619918823242], [6.190919876098633, 0.05327486991882324, 3.5635900497436523], [6.2899699211120605, 0.18903370201587677, 2.3562700748443604], [5.570149898529053, 0.05327486991882324, 2.0165200233459473]]", "geodesic_distance": 5.93776273727417, "gt_locations": "[[1.9487299919128418, 0.05327486991882324, 4.171329975128174], [2.198729991912842, 0.05327486991882324, 4.171329975128174], [2.448729991912842, 0.05327486991882324, 4.171329975128174], [2.698729991912842, 0.05327486991882324, 4.171329975128174], [2.948729991912842, 0.05327486991882324, 4.171329975128174], [3.198729991912842, 0.05327486991882324, 4.171329975128174], [3.448729991912842, 0.05327486991882324, 4.171329975128174], [3.698729991912842, 0.05327486991882324, 4.171329975128174], [3.948729991912842, 0.05327486991882324, 4.171329975128174], [4.190211296081543, 0.05327486991882324, 4.106625080108643], [4.431692600250244, 0.05327486991882324, 4.041920185089111], [4.673173904418945, 0.05327486991882324, 3.977215528488159], [4.923173904418945, 0.05327486991882324, 3.977215528488159], [5.173173904418945, 0.05327486991882324, 3.977215528488159], [5.4146552085876465, 0.05327486991882324, 3.912510871887207], [5.656136512756348, 0.05327486991882324, 3.847806215286255], [5.906136512756348, 0.05327486991882324, 3.847806215286255], [5.971932411193848, 0.05327486991882324, 3.6066362857818604], [6.036637306213379, 0.05327486991882324, 3.36515474319458], [6.10134220123291, 0.05327486991882324, 3.1236732006073], [6.166047096252441, 0.05327486991882324, 2.8821916580200195], [6.230751991271973, 0.11211195588111877, 2.6407101154327393], [6.0539751052856445, 0.10362723469734192, 2.4639334678649902], [5.877198219299316, 0.0961838886141777, 2.287156820297241]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 0]"}
{"id": 472, "episode_id": "473", "scene_id": "8WUmhLawc2A", "instruction": "With the dining table on your right and ahead of you, exit the room through the opening to your left, then continue down the hallway to your right. At the end of the hallway, turn left and continue forward. Just before the end of the hallway with the pictures of a young girl and boy on the wall, take a dogleg to the left and enter the bedroom. Walk past the foot of the bed and enter the bathroom to the right of the head of the bed. 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{"id": 473, "episode_id": "474", "scene_id": "8WUmhLawc2A", "instruction": "Turn around and walk down the hallway. Turn left and Go into the bedroom on the left. Walk through the door in the corner to go into the bathroom. ", "start_position": [0.28134098649024963, 0.10065700113773346, -1.5906399488449097], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.1191200017929077, 0.10065700113773346, 5.783480167388916], "goal_radius": 3.0, "reference_path": "[[0.28134098649024963, 0.10065700113773346, -1.5906399488449097], [-1.0885200500488281, 0.10065700113773346, -0.8753920197486877], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-4.468389987945557, 0.10065700113773346, 0.7365990281105042], [-3.37103009223938, 0.10065700113773346, 3.0904901027679443], [-0.5564950108528137, 0.10065700113773346, 5.787899971008301], [1.1191200017929077, 0.10065700113773346, 5.783480167388916]]", "geodesic_distance": 13.587510108947754, "gt_locations": "[[0.28134098649024963, 0.10065700113773346, -1.5906399488449097], [0.06483462452888489, 0.10065700113773346, -1.4656399488449097], [-0.15167173743247986, 0.10065700113773346, -1.3406399488449097], [-0.3681780993938446, 0.10065700113773346, -1.2156399488449097], [-0.5846844911575317, 0.10065700113773346, -1.0906399488449097], [-0.8011908531188965, 0.10065700113773346, -0.9656399488449097], [-1.0426723957061768, 0.10065700113773346, -0.9009351134300232], [-1.284153938293457, 0.10065700113773346, -0.8362302780151367], [-1.5256354808807373, 0.10065700113773346, -0.7715254426002502], [-1.7671170234680176, 0.10065700113773346, -0.7068206071853638], [-2.008598566055298, 0.10065700113773346, -0.6421157717704773], [-2.250080108642578, 0.10065700113773346, -0.5774109363555908], [-2.4915616512298584, 0.10065700113773346, -0.5127061009407043], [-2.7330431938171387, 0.10065700113773346, -0.44800126552581787], [-2.9830431938171387, 0.10065700113773346, -0.4480012357234955], [-3.2330431938171387, 0.10065700113773346, -0.4480012059211731], [-3.4830431938171387, 0.10065700113773346, -0.4480011761188507], [-3.7330431938171387, 0.10065700113773346, -0.4480011463165283], [-3.9830431938171387, 0.10065700113773346, -0.44800111651420593], [-4.108043193817139, 0.10065700113773346, -0.23149478435516357], [-4.233043193817139, 0.10065700113773346, -0.014988452196121216], [-4.29774808883667, 0.10065700113773346, 0.22649303078651428], [-4.362452983856201, 0.10065700113773346, 0.4679745137691498], [-4.29774808883667, 0.10065700113773346, 0.7094559669494629], [-4.233043193817139, 0.10065700113773346, 0.9509374499320984], [-4.168338298797607, 0.10065700113773346, 1.1924189329147339], [-4.103633403778076, 0.10065700113773346, 1.4339003562927246], [-4.038928508758545, 0.10065700113773346, 1.6753818988800049], [-3.913928508758545, 0.10065700113773346, 1.8918882608413696], [-3.788928508758545, 0.10065700113773346, 2.1083946228027344], [-3.663928508758545, 0.10065700113773346, 2.3249011039733887], [-3.538928508758545, 0.10065700113773346, 2.541407585144043], [-3.413928508758545, 0.10065700113773346, 2.7579140663146973], [-3.288928508758545, 0.10065700113773346, 2.9744205474853516], [-3.163928508758545, 0.10065700113773346, 3.190927028656006], [-3.038928508758545, 0.10065700113773346, 3.40743350982666], [-2.913928508758545, 0.10065700113773346, 3.6239399909973145], [-2.788928508758545, 0.10065700113773346, 3.8404464721679688], [-2.663928508758545, 0.10065700113773346, 4.056952953338623], [-2.538928508758545, 0.10065700113773346, 4.273459434509277], [-2.4742236137390137, 0.10065700113773346, 4.5149407386779785], [-2.4095187187194824, 0.10065700113773346, 4.75642204284668], [-2.344813823699951, 0.10065700113773346, 4.997903347015381], [-2.1688287258148193, 0.10065700113773346, 5.1770548820495605], [-1.9188287258148193, 0.10065700113773346, 5.251893043518066], [-1.677347183227539, 0.10065700113773346, 5.316597938537598], [-1.4358656406402588, 0.10065700113773346, 5.381302833557129], [-1.1943840980529785, 0.10065700113773346, 5.44600772857666], [-0.9778777360916138, 0.10065700113773346, 5.57100772857666], [-0.736396312713623, 0.10065700113773346, 5.635712623596191], [-0.48639631271362305, 0.10065700113773346, 5.635712623596191], [-0.23639632761478424, 0.10065700113773346, 5.635712623596191], [0.005085170269012451, 0.10065700113773346, 5.700417518615723], [0.2597340941429138, 0.10065700113773346, 5.688381195068359], [0.5097340941429138, 0.1237793117761612, 5.688381195068359], [0.7597340941429138, 0.17933477461338043, 5.688381195068359]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 2, 2, 2, 1, 3, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 0]"}
{"id": 474, "episode_id": "475", "scene_id": "8WUmhLawc2A", "instruction": "Keep walking forward, and turn left at the first corner. Walk straight towards a bedroom in front of you. Enter inside, and pass the bed, and turn left to enter the bathroom, and stop there. ", "start_position": [0.28134098649024963, 0.10065700113773346, -1.5906399488449097], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [1.1191200017929077, 0.10065700113773346, 5.783480167388916], "goal_radius": 3.0, "reference_path": "[[0.28134098649024963, 0.10065700113773346, -1.5906399488449097], [-1.0885200500488281, 0.10065700113773346, -0.8753920197486877], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-4.468389987945557, 0.10065700113773346, 0.7365990281105042], [-3.37103009223938, 0.10065700113773346, 3.0904901027679443], [-0.5564950108528137, 0.10065700113773346, 5.787899971008301], [1.1191200017929077, 0.10065700113773346, 5.783480167388916]]", "geodesic_distance": 13.587510108947754, "gt_locations": "[[0.28134098649024963, 0.10065700113773346, -1.5906399488449097], [0.06483462452888489, 0.10065700113773346, -1.4656399488449097], [-0.15167173743247986, 0.10065700113773346, -1.3406399488449097], [-0.3681780993938446, 0.10065700113773346, -1.2156399488449097], [-0.5846844911575317, 0.10065700113773346, -1.0906399488449097], [-0.8011908531188965, 0.10065700113773346, -0.9656399488449097], [-1.0426723957061768, 0.10065700113773346, -0.9009351134300232], [-1.284153938293457, 0.10065700113773346, -0.8362302780151367], [-1.5256354808807373, 0.10065700113773346, -0.7715254426002502], [-1.7671170234680176, 0.10065700113773346, -0.7068206071853638], [-2.008598566055298, 0.10065700113773346, -0.6421157717704773], [-2.250080108642578, 0.10065700113773346, -0.5774109363555908], [-2.4915616512298584, 0.10065700113773346, -0.5127061009407043], [-2.7330431938171387, 0.10065700113773346, -0.44800126552581787], [-2.9830431938171387, 0.10065700113773346, -0.4480012357234955], [-3.2330431938171387, 0.10065700113773346, -0.4480012059211731], [-3.4830431938171387, 0.10065700113773346, -0.4480011761188507], [-3.7330431938171387, 0.10065700113773346, -0.4480011463165283], [-3.9830431938171387, 0.10065700113773346, -0.44800111651420593], [-4.108043193817139, 0.10065700113773346, -0.23149478435516357], [-4.233043193817139, 0.10065700113773346, -0.014988452196121216], [-4.29774808883667, 0.10065700113773346, 0.22649303078651428], [-4.362452983856201, 0.10065700113773346, 0.4679745137691498], [-4.29774808883667, 0.10065700113773346, 0.7094559669494629], [-4.233043193817139, 0.10065700113773346, 0.9509374499320984], [-4.168338298797607, 0.10065700113773346, 1.1924189329147339], [-4.103633403778076, 0.10065700113773346, 1.4339003562927246], [-4.038928508758545, 0.10065700113773346, 1.6753818988800049], [-3.913928508758545, 0.10065700113773346, 1.8918882608413696], [-3.788928508758545, 0.10065700113773346, 2.1083946228027344], [-3.663928508758545, 0.10065700113773346, 2.3249011039733887], [-3.538928508758545, 0.10065700113773346, 2.541407585144043], [-3.413928508758545, 0.10065700113773346, 2.7579140663146973], [-3.288928508758545, 0.10065700113773346, 2.9744205474853516], [-3.163928508758545, 0.10065700113773346, 3.190927028656006], [-3.038928508758545, 0.10065700113773346, 3.40743350982666], [-2.913928508758545, 0.10065700113773346, 3.6239399909973145], [-2.788928508758545, 0.10065700113773346, 3.8404464721679688], [-2.663928508758545, 0.10065700113773346, 4.056952953338623], [-2.538928508758545, 0.10065700113773346, 4.273459434509277], [-2.4742236137390137, 0.10065700113773346, 4.5149407386779785], [-2.4095187187194824, 0.10065700113773346, 4.75642204284668], [-2.344813823699951, 0.10065700113773346, 4.997903347015381], [-2.1688287258148193, 0.10065700113773346, 5.1770548820495605], [-1.9188287258148193, 0.10065700113773346, 5.251893043518066], [-1.677347183227539, 0.10065700113773346, 5.316597938537598], [-1.4358656406402588, 0.10065700113773346, 5.381302833557129], [-1.1943840980529785, 0.10065700113773346, 5.44600772857666], [-0.9778777360916138, 0.10065700113773346, 5.57100772857666], [-0.736396312713623, 0.10065700113773346, 5.635712623596191], [-0.48639631271362305, 0.10065700113773346, 5.635712623596191], [-0.23639632761478424, 0.10065700113773346, 5.635712623596191], [0.005085170269012451, 0.10065700113773346, 5.700417518615723], [0.2597340941429138, 0.10065700113773346, 5.688381195068359], [0.5097340941429138, 0.1237793117761612, 5.688381195068359], [0.7597340941429138, 0.17933477461338043, 5.688381195068359]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 1, 2, 2, 2, 1, 3, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 0]"}
{"id": 475, "episode_id": "476", "scene_id": "E9uDoFAP3SH", "instruction": "Turn around and make a slight right turn through the doors, continue walking straight and go through the door that looks into the living room. ", "start_position": [-7.663690090179443, -5.955618858337402, 0.7608209848403931], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [5.37667989730835, -5.955618858337402, -2.5217700004577637], "goal_radius": 3.0, "reference_path": "[[-7.663690090179443, -5.955618858337402, 0.7608209848403931], [-4.752089977264404, -5.955618858337402, -2.5997400283813477], [-3.125, -5.955618858337402, -2.526319980621338], [-0.389290988445282, -5.955618858337402, -2.8487000465393066], [2.500969886779785, -5.955618858337402, -2.483419895172119], [5.37667989730835, -5.955618858337402, -2.5217700004577637]]", "geodesic_distance": 14.403287887573242, "gt_locations": "[[-7.663690090179443, -5.955618858337402, 0.7608209848403931], [-7.486913204193115, -5.955618858337402, 0.584044337272644], [-7.310136318206787, -5.955618858337402, 0.407267689704895], [-7.133359432220459, -5.955618858337402, 0.2304910272359848], [-6.956582546234131, -5.955618858337402, 0.053714364767074585], [-6.779805660247803, -5.955618858337402, -0.12306229770183563], [-6.603028774261475, -5.955618858337402, -0.29983896017074585], [-6.478028774261475, -5.955618858337402, -0.5163452625274658], [-6.353028774261475, -5.955618858337402, -0.7328516244888306], [-6.228028774261475, -5.955618858337402, -0.9493579864501953], [-6.103028774261475, -5.955618858337402, -1.16586434841156], [-5.978028774261475, -5.955618858337402, -1.3823707103729248], [-5.8012518882751465, -5.955618858337402, -1.5591473579406738], [-5.6762518882751465, -5.955618858337402, -1.7756537199020386], [-5.499475002288818, -5.955618858337402, -1.9524303674697876], [-5.24329137802124, -5.955618858337402, -2.063739061355591], [-5.11829137802124, -5.955618858337402, -2.280245304107666], [-4.876810073852539, -5.955618858337402, -2.344949960708618], [-4.635328769683838, -5.955618858337402, -2.4096546173095703], [-4.385328769683838, -5.955618858337402, -2.4096546173095703], [-4.135328769683838, -5.955618858337402, -2.4096546173095703], [-3.885328769683838, -5.955618858337402, -2.4096546173095703], [-3.635328769683838, -5.955618858337402, -2.4096546173095703], [-3.3938472270965576, -5.955618858337402, -2.4743592739105225], [-3.1523656845092773, -5.955618858337402, -2.5390639305114746], [-2.910884141921997, -5.955618858337402, -2.6037685871124268], [-2.669402599334717, -5.955618858337402, -2.668473243713379], [-2.419402599334717, -5.955618858337402, -2.668473243713379], [-2.169402599334717, -5.955618858337402, -2.668473243713379], [-1.9194025993347168, -5.955618858337402, -2.668473243713379], [-1.6694025993347168, -5.955618858337402, -2.668473243713379], [-1.4194025993347168, -5.955618858337402, -2.668473243713379], [-1.1779210567474365, -5.955618858337402, -2.733177900314331], [-0.936439573764801, -5.955618858337402, -2.797882556915283], [-0.686439573764801, -5.955618858337402, -2.797882556915283], [-0.436439573764801, -5.955618858337402, -2.797882556915283], [-0.18643957376480103, -5.955618858337402, -2.797882556915283], [0.06356042623519897, -5.955618858337402, -2.797882556915283], [0.313560426235199, -5.955618858337402, -2.797882556915283], [0.563560426235199, -5.955618858337402, -2.797882556915283], [0.813560426235199, -5.955618858337402, -2.797882556915283], [1.0550419092178345, -5.955618858337402, -2.733177661895752], [1.2965233325958252, -5.955618858337402, -2.6684727668762207], [1.538004755973816, -5.955618858337402, -2.6037678718566895], [1.7794861793518066, -5.955618858337402, -2.539062976837158], [2.0294861793518066, -5.955618858337402, -2.539062976837158], [2.2794861793518066, -5.955618858337402, -2.539062976837158], [2.5294861793518066, -5.955618858337402, -2.539062976837158], [2.7794861793518066, -5.955618858337402, -2.539062976837158], [3.0294861793518066, -5.955618858337402, -2.539062976837158], [3.2794861793518066, -5.955618858337402, -2.539062976837158], [3.5294861793518066, -5.955618858337402, -2.539062976837158], [3.7794861793518066, -5.955618858337402, -2.539062976837158], [4.029486179351807, -5.955618858337402, -2.539062976837158], [4.279486179351807, -5.955618858337402, -2.539062976837158], [4.529486179351807, -5.955618858337402, -2.539062976837158], [4.779486179351807, -5.955618858337402, -2.539062976837158], [5.029486179351807, -5.955618858337402, -2.539062976837158]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 3, 3, 1, 2, 2, 2, 2, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 476, "episode_id": "477", "scene_id": "E9uDoFAP3SH", "instruction": "Enter room directly left of the mirror.  Walk across carpet and enter the passage on the left.  Wait near first door on the left. ", "start_position": [-7.663690090179443, -5.955618858337402, 0.7608209848403931], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [5.37667989730835, -5.955618858337402, -2.5217700004577637], "goal_radius": 3.0, "reference_path": "[[-7.663690090179443, -5.955618858337402, 0.7608209848403931], [-4.752089977264404, -5.955618858337402, -2.5997400283813477], [-3.125, -5.955618858337402, -2.526319980621338], [-0.389290988445282, -5.955618858337402, -2.8487000465393066], [2.500969886779785, -5.955618858337402, -2.483419895172119], [5.37667989730835, -5.955618858337402, -2.5217700004577637]]", "geodesic_distance": 14.403287887573242, "gt_locations": "[[-7.663690090179443, -5.955618858337402, 0.7608209848403931], [-7.486913204193115, -5.955618858337402, 0.584044337272644], [-7.310136318206787, -5.955618858337402, 0.407267689704895], [-7.133359432220459, -5.955618858337402, 0.2304910272359848], [-6.956582546234131, -5.955618858337402, 0.053714364767074585], [-6.779805660247803, -5.955618858337402, -0.12306229770183563], [-6.603028774261475, -5.955618858337402, -0.29983896017074585], [-6.478028774261475, -5.955618858337402, -0.5163452625274658], [-6.353028774261475, -5.955618858337402, -0.7328516244888306], [-6.228028774261475, -5.955618858337402, -0.9493579864501953], [-6.103028774261475, -5.955618858337402, -1.16586434841156], [-5.978028774261475, -5.955618858337402, -1.3823707103729248], [-5.8012518882751465, -5.955618858337402, -1.5591473579406738], [-5.6762518882751465, -5.955618858337402, -1.7756537199020386], [-5.499475002288818, -5.955618858337402, -1.9524303674697876], [-5.24329137802124, -5.955618858337402, -2.063739061355591], [-5.11829137802124, -5.955618858337402, -2.280245304107666], [-4.876810073852539, -5.955618858337402, -2.344949960708618], [-4.635328769683838, -5.955618858337402, -2.4096546173095703], [-4.385328769683838, -5.955618858337402, -2.4096546173095703], [-4.135328769683838, -5.955618858337402, -2.4096546173095703], [-3.885328769683838, -5.955618858337402, -2.4096546173095703], [-3.635328769683838, -5.955618858337402, -2.4096546173095703], [-3.3938472270965576, -5.955618858337402, -2.4743592739105225], [-3.1523656845092773, -5.955618858337402, -2.5390639305114746], [-2.910884141921997, -5.955618858337402, -2.6037685871124268], [-2.669402599334717, -5.955618858337402, -2.668473243713379], [-2.419402599334717, -5.955618858337402, -2.668473243713379], [-2.169402599334717, -5.955618858337402, -2.668473243713379], [-1.9194025993347168, -5.955618858337402, -2.668473243713379], [-1.6694025993347168, -5.955618858337402, -2.668473243713379], [-1.4194025993347168, -5.955618858337402, -2.668473243713379], [-1.1779210567474365, -5.955618858337402, -2.733177900314331], [-0.936439573764801, -5.955618858337402, -2.797882556915283], [-0.686439573764801, -5.955618858337402, -2.797882556915283], [-0.436439573764801, -5.955618858337402, -2.797882556915283], [-0.18643957376480103, -5.955618858337402, -2.797882556915283], [0.06356042623519897, -5.955618858337402, -2.797882556915283], [0.313560426235199, -5.955618858337402, -2.797882556915283], [0.563560426235199, -5.955618858337402, -2.797882556915283], [0.813560426235199, -5.955618858337402, -2.797882556915283], [1.0550419092178345, -5.955618858337402, -2.733177661895752], [1.2965233325958252, -5.955618858337402, -2.6684727668762207], [1.538004755973816, -5.955618858337402, -2.6037678718566895], [1.7794861793518066, -5.955618858337402, -2.539062976837158], [2.0294861793518066, -5.955618858337402, -2.539062976837158], [2.2794861793518066, -5.955618858337402, -2.539062976837158], [2.5294861793518066, -5.955618858337402, -2.539062976837158], [2.7794861793518066, -5.955618858337402, -2.539062976837158], [3.0294861793518066, -5.955618858337402, -2.539062976837158], [3.2794861793518066, -5.955618858337402, -2.539062976837158], [3.5294861793518066, -5.955618858337402, -2.539062976837158], [3.7794861793518066, -5.955618858337402, -2.539062976837158], [4.029486179351807, -5.955618858337402, -2.539062976837158], [4.279486179351807, -5.955618858337402, -2.539062976837158], [4.529486179351807, -5.955618858337402, -2.539062976837158], [4.779486179351807, -5.955618858337402, -2.539062976837158], [5.029486179351807, -5.955618858337402, -2.539062976837158]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 3, 3, 1, 2, 2, 2, 2, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 477, "episode_id": "478", "scene_id": "E9uDoFAP3SH", "instruction": "Turn toward the mirror, and go out of the door on the left. Walk straight forward and go into the room straight across. Stop before you enter the room at the end of the hall. ", "start_position": [-7.663690090179443, -5.955618858337402, 0.7608209848403931], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [5.37667989730835, -5.955618858337402, -2.5217700004577637], "goal_radius": 3.0, "reference_path": "[[-7.663690090179443, -5.955618858337402, 0.7608209848403931], [-4.752089977264404, -5.955618858337402, -2.5997400283813477], [-3.125, -5.955618858337402, -2.526319980621338], [-0.389290988445282, -5.955618858337402, -2.8487000465393066], [2.500969886779785, -5.955618858337402, -2.483419895172119], [5.37667989730835, -5.955618858337402, -2.5217700004577637]]", "geodesic_distance": 14.403287887573242, "gt_locations": "[[-7.663690090179443, -5.955618858337402, 0.7608209848403931], [-7.486913204193115, -5.955618858337402, 0.584044337272644], [-7.310136318206787, -5.955618858337402, 0.407267689704895], [-7.133359432220459, -5.955618858337402, 0.2304910272359848], [-6.956582546234131, -5.955618858337402, 0.053714364767074585], [-6.779805660247803, -5.955618858337402, -0.12306229770183563], [-6.603028774261475, -5.955618858337402, -0.29983896017074585], [-6.478028774261475, -5.955618858337402, -0.5163452625274658], [-6.353028774261475, -5.955618858337402, -0.7328516244888306], [-6.228028774261475, -5.955618858337402, -0.9493579864501953], [-6.103028774261475, -5.955618858337402, -1.16586434841156], [-5.978028774261475, -5.955618858337402, -1.3823707103729248], [-5.8012518882751465, -5.955618858337402, -1.5591473579406738], [-5.6762518882751465, -5.955618858337402, -1.7756537199020386], [-5.499475002288818, -5.955618858337402, -1.9524303674697876], [-5.24329137802124, -5.955618858337402, -2.063739061355591], [-5.11829137802124, -5.955618858337402, -2.280245304107666], [-4.876810073852539, -5.955618858337402, -2.344949960708618], [-4.635328769683838, -5.955618858337402, -2.4096546173095703], [-4.385328769683838, -5.955618858337402, -2.4096546173095703], [-4.135328769683838, -5.955618858337402, -2.4096546173095703], [-3.885328769683838, -5.955618858337402, -2.4096546173095703], [-3.635328769683838, -5.955618858337402, -2.4096546173095703], [-3.3938472270965576, -5.955618858337402, -2.4743592739105225], [-3.1523656845092773, -5.955618858337402, -2.5390639305114746], [-2.910884141921997, -5.955618858337402, -2.6037685871124268], [-2.669402599334717, -5.955618858337402, -2.668473243713379], [-2.419402599334717, -5.955618858337402, -2.668473243713379], [-2.169402599334717, -5.955618858337402, -2.668473243713379], [-1.9194025993347168, -5.955618858337402, -2.668473243713379], [-1.6694025993347168, -5.955618858337402, -2.668473243713379], [-1.4194025993347168, -5.955618858337402, -2.668473243713379], [-1.1779210567474365, -5.955618858337402, -2.733177900314331], [-0.936439573764801, -5.955618858337402, -2.797882556915283], [-0.686439573764801, -5.955618858337402, -2.797882556915283], [-0.436439573764801, -5.955618858337402, -2.797882556915283], [-0.18643957376480103, -5.955618858337402, -2.797882556915283], [0.06356042623519897, -5.955618858337402, -2.797882556915283], [0.313560426235199, -5.955618858337402, -2.797882556915283], [0.563560426235199, -5.955618858337402, -2.797882556915283], [0.813560426235199, -5.955618858337402, -2.797882556915283], [1.0550419092178345, -5.955618858337402, -2.733177661895752], [1.2965233325958252, -5.955618858337402, -2.6684727668762207], [1.538004755973816, -5.955618858337402, -2.6037678718566895], [1.7794861793518066, -5.955618858337402, -2.539062976837158], [2.0294861793518066, -5.955618858337402, -2.539062976837158], [2.2794861793518066, -5.955618858337402, -2.539062976837158], [2.5294861793518066, -5.955618858337402, -2.539062976837158], [2.7794861793518066, -5.955618858337402, -2.539062976837158], [3.0294861793518066, -5.955618858337402, -2.539062976837158], [3.2794861793518066, -5.955618858337402, -2.539062976837158], [3.5294861793518066, -5.955618858337402, -2.539062976837158], [3.7794861793518066, -5.955618858337402, -2.539062976837158], [4.029486179351807, -5.955618858337402, -2.539062976837158], [4.279486179351807, -5.955618858337402, -2.539062976837158], [4.529486179351807, -5.955618858337402, -2.539062976837158], [4.779486179351807, -5.955618858337402, -2.539062976837158], [5.029486179351807, -5.955618858337402, -2.539062976837158]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 3, 3, 3, 1, 2, 2, 2, 2, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 478, "episode_id": "479", "scene_id": "sT4fr6TAbpF", "instruction": "Go straight through the room into the hallway. Turn left and go into the room. Wait at the entrance. ", "start_position": [7.685589790344238, 0.05631500482559204, -12.298100471496582], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.5721060037612915, 0.05631500482559204, -11.002599716186523], "goal_radius": 3.0, "reference_path": "[[7.685589790344238, 0.05631500482559204, -12.298100471496582], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [4.7735700607299805, 0.05631500482559204, -11.992500305175781], [3.2856900691986084, 0.05631500482559204, -11.905200004577637], [1.7942399978637695, 0.05631500482559204, -12.19279956817627], [0.4455859959125519, 0.05631500482559204, -12.384599685668945], [-0.5721060037612915, 0.05631500482559204, -11.002599716186523]]", "geodesic_distance": 8.78588581085205, "gt_locations": "[[7.685589790344238, 0.05631500482559204, -12.298100471496582], [7.435589790344238, 0.05631500482559204, -12.298100471496582], [7.185589790344238, 0.05631500482559204, -12.298100471496582], [6.935589790344238, 0.05631500482559204, -12.298100471496582], [6.685589790344238, 0.05631500482559204, -12.298100471496582], [6.435589790344238, 0.05631500482559204, -12.298100471496582], [6.194108486175537, 0.05631500482559204, -12.23339557647705], [5.952627182006836, 0.05631500482559204, -12.16869068145752], [5.711145877838135, 0.05631500482559204, -12.103985786437988], [5.469664573669434, 0.05631500482559204, -12.039280891418457], [5.219664573669434, 0.05631500482559204, -12.039280891418457], [4.969664573669434, 0.05631500482559204, -12.039280891418457], [4.719664573669434, 0.05631500482559204, -12.039280891418457], [4.469664573669434, 0.05631500482559204, -12.039280891418457], [4.219664573669434, 0.05631500482559204, -12.039280891418457], [3.9696645736694336, 0.05631500482559204, -12.039280891418457], [3.7281830310821533, 0.05631500482559204, -11.974575996398926], [3.4781830310821533, 0.05631500482559204, -11.974575996398926], [3.2281830310821533, 0.05631500482559204, -11.974575996398926], [2.9781830310821533, 0.05631500482559204, -11.974575996398926], [2.736701488494873, 0.05631500482559204, -12.039280891418457], [2.4952199459075928, 0.05631500482559204, -12.103985786437988], [2.2537384033203125, 0.05631500482559204, -12.16869068145752], [2.0122568607330322, 0.05631500482559204, -12.23339557647705], [1.7707754373550415, 0.05631500482559204, -12.298100471496582], [1.5207754373550415, 0.05631500482559204, -12.298100471496582], [1.2707754373550415, 0.05631500482559204, -12.298100471496582], [1.0207754373550415, 0.05631500482559204, -12.298100471496582], [0.7707754373550415, 0.05631500482559204, -12.298100471496582], [0.5542690753936768, 0.05631500482559204, -12.173100471496582], [0.3377626836299896, 0.05631500482559204, -12.048100471496582], [0.09628123044967651, 0.05631500482559204, -11.98339557647705], [-0.12022514641284943, 0.05631500482559204, -11.85839557647705], [-0.2452252209186554, 0.05631500482559204, -11.641889572143555], [-0.37022531032562256, 0.05631500482559204, -11.425383567810059]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 1, 0]"}
{"id": 479, "episode_id": "480", "scene_id": "sT4fr6TAbpF", "instruction": "Turn around and enter the room with the round mirror on the wall. Enter the doorway directly ahead, then turn left and pass through the open doorway. ", "start_position": [7.685589790344238, 0.05631500482559204, -12.298100471496582], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.5721060037612915, 0.05631500482559204, -11.002599716186523], "goal_radius": 3.0, "reference_path": "[[7.685589790344238, 0.05631500482559204, -12.298100471496582], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [4.7735700607299805, 0.05631500482559204, -11.992500305175781], [3.2856900691986084, 0.05631500482559204, -11.905200004577637], [1.7942399978637695, 0.05631500482559204, -12.19279956817627], [0.4455859959125519, 0.05631500482559204, -12.384599685668945], [-0.5721060037612915, 0.05631500482559204, -11.002599716186523]]", "geodesic_distance": 8.78588581085205, "gt_locations": "[[7.685589790344238, 0.05631500482559204, -12.298100471496582], [7.435589790344238, 0.05631500482559204, -12.298100471496582], [7.185589790344238, 0.05631500482559204, -12.298100471496582], [6.935589790344238, 0.05631500482559204, -12.298100471496582], [6.685589790344238, 0.05631500482559204, -12.298100471496582], [6.435589790344238, 0.05631500482559204, -12.298100471496582], [6.194108486175537, 0.05631500482559204, -12.23339557647705], [5.952627182006836, 0.05631500482559204, -12.16869068145752], [5.711145877838135, 0.05631500482559204, -12.103985786437988], [5.469664573669434, 0.05631500482559204, -12.039280891418457], [5.219664573669434, 0.05631500482559204, -12.039280891418457], [4.969664573669434, 0.05631500482559204, -12.039280891418457], [4.719664573669434, 0.05631500482559204, -12.039280891418457], [4.469664573669434, 0.05631500482559204, -12.039280891418457], [4.219664573669434, 0.05631500482559204, -12.039280891418457], [3.9696645736694336, 0.05631500482559204, -12.039280891418457], [3.7281830310821533, 0.05631500482559204, -11.974575996398926], [3.4781830310821533, 0.05631500482559204, -11.974575996398926], [3.2281830310821533, 0.05631500482559204, -11.974575996398926], [2.9781830310821533, 0.05631500482559204, -11.974575996398926], [2.736701488494873, 0.05631500482559204, -12.039280891418457], [2.4952199459075928, 0.05631500482559204, -12.103985786437988], [2.2537384033203125, 0.05631500482559204, -12.16869068145752], [2.0122568607330322, 0.05631500482559204, -12.23339557647705], [1.7707754373550415, 0.05631500482559204, -12.298100471496582], [1.5207754373550415, 0.05631500482559204, -12.298100471496582], [1.2707754373550415, 0.05631500482559204, -12.298100471496582], [1.0207754373550415, 0.05631500482559204, -12.298100471496582], [0.7707754373550415, 0.05631500482559204, -12.298100471496582], [0.5542690753936768, 0.05631500482559204, -12.173100471496582], [0.3377626836299896, 0.05631500482559204, -12.048100471496582], [0.09628123044967651, 0.05631500482559204, -11.98339557647705], [-0.12022514641284943, 0.05631500482559204, -11.85839557647705], [-0.2452252209186554, 0.05631500482559204, -11.641889572143555], [-0.37022531032562256, 0.05631500482559204, -11.425383567810059]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 1, 0]"}
{"id": 480, "episode_id": "481", "scene_id": "sT4fr6TAbpF", "instruction": "Turn around and exit the room. Pass the table and chairs and go through the doorway. Turn left into the next room and wait by the light switches. ", "start_position": [7.685589790344238, 0.05631500482559204, -12.298100471496582], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-0.5721060037612915, 0.05631500482559204, -11.002599716186523], "goal_radius": 3.0, "reference_path": "[[7.685589790344238, 0.05631500482559204, -12.298100471496582], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [4.7735700607299805, 0.05631500482559204, -11.992500305175781], [3.2856900691986084, 0.05631500482559204, -11.905200004577637], [1.7942399978637695, 0.05631500482559204, -12.19279956817627], [0.4455859959125519, 0.05631500482559204, -12.384599685668945], [-0.5721060037612915, 0.05631500482559204, -11.002599716186523]]", "geodesic_distance": 8.78588581085205, "gt_locations": "[[7.685589790344238, 0.05631500482559204, -12.298100471496582], [7.435589790344238, 0.05631500482559204, -12.298100471496582], [7.185589790344238, 0.05631500482559204, -12.298100471496582], [6.935589790344238, 0.05631500482559204, -12.298100471496582], [6.685589790344238, 0.05631500482559204, -12.298100471496582], [6.435589790344238, 0.05631500482559204, -12.298100471496582], [6.194108486175537, 0.05631500482559204, -12.23339557647705], [5.952627182006836, 0.05631500482559204, -12.16869068145752], [5.711145877838135, 0.05631500482559204, -12.103985786437988], [5.469664573669434, 0.05631500482559204, -12.039280891418457], [5.219664573669434, 0.05631500482559204, -12.039280891418457], [4.969664573669434, 0.05631500482559204, -12.039280891418457], [4.719664573669434, 0.05631500482559204, -12.039280891418457], [4.469664573669434, 0.05631500482559204, -12.039280891418457], [4.219664573669434, 0.05631500482559204, -12.039280891418457], [3.9696645736694336, 0.05631500482559204, -12.039280891418457], [3.7281830310821533, 0.05631500482559204, -11.974575996398926], [3.4781830310821533, 0.05631500482559204, -11.974575996398926], [3.2281830310821533, 0.05631500482559204, -11.974575996398926], [2.9781830310821533, 0.05631500482559204, -11.974575996398926], [2.736701488494873, 0.05631500482559204, -12.039280891418457], [2.4952199459075928, 0.05631500482559204, -12.103985786437988], [2.2537384033203125, 0.05631500482559204, -12.16869068145752], [2.0122568607330322, 0.05631500482559204, -12.23339557647705], [1.7707754373550415, 0.05631500482559204, -12.298100471496582], [1.5207754373550415, 0.05631500482559204, -12.298100471496582], [1.2707754373550415, 0.05631500482559204, -12.298100471496582], [1.0207754373550415, 0.05631500482559204, -12.298100471496582], [0.7707754373550415, 0.05631500482559204, -12.298100471496582], [0.5542690753936768, 0.05631500482559204, -12.173100471496582], [0.3377626836299896, 0.05631500482559204, -12.048100471496582], [0.09628123044967651, 0.05631500482559204, -11.98339557647705], [-0.12022514641284943, 0.05631500482559204, -11.85839557647705], [-0.2452252209186554, 0.05631500482559204, -11.641889572143555], [-0.37022531032562256, 0.05631500482559204, -11.425383567810059]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 1, 0]"}
{"id": 481, "episode_id": "482", "scene_id": "ac26ZMwG7aT", "instruction": "Turn left and go through the open door. Go left into the hall and turn left. Go all the way to the end of the hall and stop in the open door. ", "start_position": [14.41469955444336, 0.13922199606895447, -11.09630012512207], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [16.9414005279541, 0.13922199606895447, -5.277070045471191], "goal_radius": 3.0, "reference_path": "[[14.41469955444336, 0.13922199606895447, -11.09630012512207], [12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [11.215100288391113, 0.13922199606895447, -5.128550052642822], [12.377900123596191, 0.13922199606895447, -5.10359001159668], [15.228899955749512, 0.13922199606895447, -5.373549938201904], [16.9414005279541, 0.13922199606895447, -5.277070045471191]]", "geodesic_distance": 12.526324272155762, "gt_locations": "[[14.41469955444336, 0.13922199606895447, -11.09630012512207], [14.28969955444336, 0.13922199606895447, -10.879794120788574], [14.16469955444336, 0.13922199606895447, -10.663288116455078], [14.03969955444336, 0.13922199606895447, -10.446782112121582], [13.91469955444336, 0.13922199606895447, -10.230276107788086], [13.737922668457031, 0.13922199606895447, -10.053499221801758], [13.561145782470703, 0.13922199606895447, -9.87672233581543], [13.436145782470703, 0.13922199606895447, -9.660216331481934], [13.311145782470703, 0.13922199606895447, -9.443710327148438], [13.186145782470703, 0.13922199606895447, -9.227204322814941], [13.009368896484375, 0.13922199606895447, -9.050427436828613], [12.792862892150879, 0.13922199606895447, -8.925427436828613], [12.576356887817383, 0.13922199606895447, -8.800427436828613], [12.359850883483887, 0.13922199606895447, -8.675427436828613], [12.183073997497559, 0.13922199606895447, -8.498650550842285], [11.966567993164062, 0.13922199606895447, -8.373650550842285], [11.750061988830566, 0.13922199606895447, -8.248650550842285], [11.508580207824707, 0.13922199606895447, -8.183945655822754], [11.267098426818848, 0.13922199606895447, -8.119240760803223], [11.202393531799316, 0.13922199606895447, -7.877758979797363], [11.202393531799316, 0.13922199606895447, -7.627758979797363], [11.202393531799316, 0.13922199606895447, -7.377758979797363], [11.202393531799316, 0.13922199606895447, -7.127758979797363], [11.134422302246094, 0.13922199606895447, -6.886277675628662], [11.134422302246094, 0.13922199606895447, -6.636277675628662], [11.134422302246094, 0.13922199606895447, -6.386277675628662], [11.134422302246094, 0.13922199606895447, -6.136277675628662], [11.134422302246094, 0.13922199606895447, -5.886277675628662], [11.134422302246094, 0.13922199606895447, -5.636277675628662], [11.199127197265625, 0.13922199606895447, -5.394796371459961], [11.415633201599121, 0.13922199606895447, -5.269796371459961], [11.65711498260498, 0.13922199606895447, -5.20509147644043], [11.89859676361084, 0.13922199606895447, -5.140386581420898], [12.14859676361084, 0.13922199606895447, -5.140386581420898], [12.39859676361084, 0.13922199606895447, -5.140386581420898], [12.64859676361084, 0.13922199606895447, -5.140386581420898], [12.89859676361084, 0.13922199606895447, -5.140386581420898], [13.14859676361084, 0.13922199606895447, -5.140386581420898], [13.39859676361084, 0.13922199606895447, -5.140386581420898], [13.64859676361084, 0.13922199606895447, -5.140386581420898], [13.89859676361084, 0.13922199606895447, -5.140386581420898], [14.1400785446167, 0.13922199606895447, -5.20509147644043], [14.3900785446167, 0.13922199606895447, -5.20509147644043], [14.6400785446167, 0.13922199606895447, -5.20509147644043], [14.881560325622559, 0.13922199606895447, -5.269796371459961], [15.131560325622559, 0.13922199606895447, -5.269796371459961], [15.381560325622559, 0.13922199606895447, -5.269796371459961], [15.631560325622559, 0.13922199606895447, -5.269796371459961], [15.881560325622559, 0.13922199606895447, -5.269796371459961], [16.131561279296875, 0.13922199606895447, -5.269796371459961], [16.381561279296875, 0.13922199606895447, -5.269796371459961], [16.631561279296875, 0.13922199606895447, -5.269796371459961]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 482, "episode_id": "483", "scene_id": "ac26ZMwG7aT", "instruction": "Turn around and walk out the door to the left of the TV. Once out turn left and walk forward past the bookshelf and turn left.  Walk all the way down the hallway and into the door at the end. Stop once inside the closet. ", "start_position": [14.41469955444336, 0.13922199606895447, -11.09630012512207], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [16.9414005279541, 0.13922199606895447, -5.277070045471191], "goal_radius": 3.0, "reference_path": "[[14.41469955444336, 0.13922199606895447, -11.09630012512207], [12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [11.215100288391113, 0.13922199606895447, -5.128550052642822], [12.377900123596191, 0.13922199606895447, -5.10359001159668], [15.228899955749512, 0.13922199606895447, -5.373549938201904], [16.9414005279541, 0.13922199606895447, -5.277070045471191]]", "geodesic_distance": 12.526324272155762, "gt_locations": "[[14.41469955444336, 0.13922199606895447, -11.09630012512207], [14.28969955444336, 0.13922199606895447, -10.879794120788574], [14.16469955444336, 0.13922199606895447, -10.663288116455078], [14.03969955444336, 0.13922199606895447, -10.446782112121582], [13.91469955444336, 0.13922199606895447, -10.230276107788086], [13.737922668457031, 0.13922199606895447, -10.053499221801758], [13.561145782470703, 0.13922199606895447, -9.87672233581543], [13.436145782470703, 0.13922199606895447, -9.660216331481934], [13.311145782470703, 0.13922199606895447, -9.443710327148438], [13.186145782470703, 0.13922199606895447, -9.227204322814941], [13.009368896484375, 0.13922199606895447, -9.050427436828613], [12.792862892150879, 0.13922199606895447, -8.925427436828613], [12.576356887817383, 0.13922199606895447, -8.800427436828613], [12.359850883483887, 0.13922199606895447, -8.675427436828613], [12.183073997497559, 0.13922199606895447, -8.498650550842285], [11.966567993164062, 0.13922199606895447, -8.373650550842285], [11.750061988830566, 0.13922199606895447, -8.248650550842285], [11.508580207824707, 0.13922199606895447, -8.183945655822754], [11.267098426818848, 0.13922199606895447, -8.119240760803223], [11.202393531799316, 0.13922199606895447, -7.877758979797363], [11.202393531799316, 0.13922199606895447, -7.627758979797363], [11.202393531799316, 0.13922199606895447, -7.377758979797363], [11.202393531799316, 0.13922199606895447, -7.127758979797363], [11.134422302246094, 0.13922199606895447, -6.886277675628662], [11.134422302246094, 0.13922199606895447, -6.636277675628662], [11.134422302246094, 0.13922199606895447, -6.386277675628662], [11.134422302246094, 0.13922199606895447, -6.136277675628662], [11.134422302246094, 0.13922199606895447, -5.886277675628662], [11.134422302246094, 0.13922199606895447, -5.636277675628662], [11.199127197265625, 0.13922199606895447, -5.394796371459961], [11.415633201599121, 0.13922199606895447, -5.269796371459961], [11.65711498260498, 0.13922199606895447, -5.20509147644043], [11.89859676361084, 0.13922199606895447, -5.140386581420898], [12.14859676361084, 0.13922199606895447, -5.140386581420898], [12.39859676361084, 0.13922199606895447, -5.140386581420898], [12.64859676361084, 0.13922199606895447, -5.140386581420898], [12.89859676361084, 0.13922199606895447, -5.140386581420898], [13.14859676361084, 0.13922199606895447, -5.140386581420898], [13.39859676361084, 0.13922199606895447, -5.140386581420898], [13.64859676361084, 0.13922199606895447, -5.140386581420898], [13.89859676361084, 0.13922199606895447, -5.140386581420898], [14.1400785446167, 0.13922199606895447, -5.20509147644043], [14.3900785446167, 0.13922199606895447, -5.20509147644043], [14.6400785446167, 0.13922199606895447, -5.20509147644043], [14.881560325622559, 0.13922199606895447, -5.269796371459961], [15.131560325622559, 0.13922199606895447, -5.269796371459961], [15.381560325622559, 0.13922199606895447, -5.269796371459961], [15.631560325622559, 0.13922199606895447, -5.269796371459961], [15.881560325622559, 0.13922199606895447, -5.269796371459961], [16.131561279296875, 0.13922199606895447, -5.269796371459961], [16.381561279296875, 0.13922199606895447, -5.269796371459961], [16.631561279296875, 0.13922199606895447, -5.269796371459961]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 483, "episode_id": "484", "scene_id": "ac26ZMwG7aT", "instruction": "Leave the room, then take the left door in the next room.  Turn left and go all the way down the hallway into the walk-in closet. ", "start_position": [14.41469955444336, 0.13922199606895447, -11.09630012512207], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [16.9414005279541, 0.13922199606895447, -5.277070045471191], "goal_radius": 3.0, "reference_path": "[[14.41469955444336, 0.13922199606895447, -11.09630012512207], [12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [11.215100288391113, 0.13922199606895447, -5.128550052642822], [12.377900123596191, 0.13922199606895447, -5.10359001159668], [15.228899955749512, 0.13922199606895447, -5.373549938201904], [16.9414005279541, 0.13922199606895447, -5.277070045471191]]", "geodesic_distance": 12.526324272155762, "gt_locations": "[[14.41469955444336, 0.13922199606895447, -11.09630012512207], [14.28969955444336, 0.13922199606895447, -10.879794120788574], [14.16469955444336, 0.13922199606895447, -10.663288116455078], [14.03969955444336, 0.13922199606895447, -10.446782112121582], [13.91469955444336, 0.13922199606895447, -10.230276107788086], [13.737922668457031, 0.13922199606895447, -10.053499221801758], [13.561145782470703, 0.13922199606895447, -9.87672233581543], [13.436145782470703, 0.13922199606895447, -9.660216331481934], [13.311145782470703, 0.13922199606895447, -9.443710327148438], [13.186145782470703, 0.13922199606895447, -9.227204322814941], [13.009368896484375, 0.13922199606895447, -9.050427436828613], [12.792862892150879, 0.13922199606895447, -8.925427436828613], [12.576356887817383, 0.13922199606895447, -8.800427436828613], [12.359850883483887, 0.13922199606895447, -8.675427436828613], [12.183073997497559, 0.13922199606895447, -8.498650550842285], [11.966567993164062, 0.13922199606895447, -8.373650550842285], [11.750061988830566, 0.13922199606895447, -8.248650550842285], [11.508580207824707, 0.13922199606895447, -8.183945655822754], [11.267098426818848, 0.13922199606895447, -8.119240760803223], [11.202393531799316, 0.13922199606895447, -7.877758979797363], [11.202393531799316, 0.13922199606895447, -7.627758979797363], [11.202393531799316, 0.13922199606895447, -7.377758979797363], [11.202393531799316, 0.13922199606895447, -7.127758979797363], [11.134422302246094, 0.13922199606895447, -6.886277675628662], [11.134422302246094, 0.13922199606895447, -6.636277675628662], [11.134422302246094, 0.13922199606895447, -6.386277675628662], [11.134422302246094, 0.13922199606895447, -6.136277675628662], [11.134422302246094, 0.13922199606895447, -5.886277675628662], [11.134422302246094, 0.13922199606895447, -5.636277675628662], [11.199127197265625, 0.13922199606895447, -5.394796371459961], [11.415633201599121, 0.13922199606895447, -5.269796371459961], [11.65711498260498, 0.13922199606895447, -5.20509147644043], [11.89859676361084, 0.13922199606895447, -5.140386581420898], [12.14859676361084, 0.13922199606895447, -5.140386581420898], [12.39859676361084, 0.13922199606895447, -5.140386581420898], [12.64859676361084, 0.13922199606895447, -5.140386581420898], [12.89859676361084, 0.13922199606895447, -5.140386581420898], [13.14859676361084, 0.13922199606895447, -5.140386581420898], [13.39859676361084, 0.13922199606895447, -5.140386581420898], [13.64859676361084, 0.13922199606895447, -5.140386581420898], [13.89859676361084, 0.13922199606895447, -5.140386581420898], [14.1400785446167, 0.13922199606895447, -5.20509147644043], [14.3900785446167, 0.13922199606895447, -5.20509147644043], [14.6400785446167, 0.13922199606895447, -5.20509147644043], [14.881560325622559, 0.13922199606895447, -5.269796371459961], [15.131560325622559, 0.13922199606895447, -5.269796371459961], [15.381560325622559, 0.13922199606895447, -5.269796371459961], [15.631560325622559, 0.13922199606895447, -5.269796371459961], [15.881560325622559, 0.13922199606895447, -5.269796371459961], [16.131561279296875, 0.13922199606895447, -5.269796371459961], [16.381561279296875, 0.13922199606895447, -5.269796371459961], [16.631561279296875, 0.13922199606895447, -5.269796371459961]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 484, "episode_id": "485", "scene_id": "ur6pFq6Qu1A", "instruction": "Walk out of the room and turn left. Go past the wall sculpture and veer a little left. Keep going and wait in the doorway to the left of the mirror. 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{"id": 485, "episode_id": "486", "scene_id": "ur6pFq6Qu1A", "instruction": "Exit the massage room and turn left in the foyer.  Then walk down the hall and wait near the women's locker room door. 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{"id": 486, "episode_id": "487", "scene_id": "ur6pFq6Qu1A", "instruction": "Exit the room. Once you are in the large room ,turn left and enter the hallway. Walk all the way down the hallway and into the room with chairs. Once in the room, turn right and enter the door straight ahead and stop. 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{"id": 487, "episode_id": "488", "scene_id": "JeFG25nYj2p", "instruction": "Stand with the bed behind you and exit the room through the door on the right by the white flowers.  Walk over the black square floor decoration and over the red carpet and stop in the doorway to the left of the two chairs. ", "start_position": [-6.390769958496094, 0.09358400106430054, 6.4935197830200195], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-5.41087007522583, 0.09358400106430054, 5.856150150299072], [-4.846459865570068, 0.09358400106430054, 5.104690074920654], [-4.139379978179932, 0.09358400106430054, 4.601039886474609], [-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 9.190232276916504, "gt_locations": "[[-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-6.1742634773254395, 0.09358400106430054, 6.3685197830200195], [-5.957756996154785, 0.09358400106430054, 6.2435197830200195], [-5.741250514984131, 0.09358400106430054, 6.1185197830200195], [-5.564473628997803, 0.09358400106430054, 5.941742897033691], [-5.387696743011475, 0.09358400106430054, 5.764966011047363], [-5.2109198570251465, 0.09358400106430054, 5.588189125061035], [-5.0859198570251465, 0.09358400106430054, 5.371682643890381], [-4.909142971038818, 0.09358400106430054, 5.194905757904053], [-4.73236608505249, 0.09358400106430054, 5.018128871917725], [-4.515859603881836, 0.09358400106430054, 4.893128871917725], [-4.299353122711182, 0.09358400106430054, 4.768128871917725], [-4.082846641540527, 0.09358400106430054, 4.643128871917725], [-3.866340160369873, 0.09358400106430054, 4.518128871917725], [-3.6248586177825928, 0.09358400106430054, 4.453423976898193], [-3.3833770751953125, 0.09358400106430054, 4.388719081878662], [-3.1418955326080322, 0.09358400106430054, 4.324014186859131], [-2.900413990020752, 0.09358400106430054, 4.2593092918396], [-2.6839077472686768, 0.09358400106430054, 4.1343092918396], [-2.4674015045166016, 0.09358400106430054, 4.0093092918396], [-2.2508952617645264, 0.09358400106430054, 3.8843092918395996], [-2.034389019012451, 0.09358400106430054, 3.7593092918395996], [-1.8178826570510864, 0.09358400106430054, 3.6343092918395996], [-1.6013762950897217, 0.09358400106430054, 3.5093092918395996], [-1.384869933128357, 0.09358400106430054, 3.3843092918395996], [-1.1683635711669922, 0.09358400106430054, 3.2593092918395996], [-0.9518572092056274, 0.09358400106430054, 3.1343092918395996], [-0.7353508472442627, 0.09358400106430054, 3.0093092918395996], [-0.518844485282898, 0.09358400106430054, 2.8843092918395996], [-0.3023381233215332, 0.09358400106430054, 2.7593092918395996], [-0.08583177626132965, 0.09358400106430054, 2.6343092918395996], [0.15564969182014465, 0.09358400106430054, 2.5696046352386475], [0.3721560537815094, 0.09358400106430054, 2.4446046352386475], [0.5886623859405518, 0.09358400106430054, 2.3196046352386475], [0.8051687479019165, 0.09358400106430054, 2.1946046352386475], [1.0216751098632812, 0.09358400106430054, 2.0696046352386475], [1.1984517574310303, 0.09358400106430054, 1.8928279876708984]]", "gt_actions": "[2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 488, "episode_id": "489", "scene_id": "JeFG25nYj2p", "instruction": "Walk out the door to your left. Once out the door, walk across the room and stop in the doorway of the double doors on your left. ", "start_position": [-6.390769958496094, 0.09358400106430054, 6.4935197830200195], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-5.41087007522583, 0.09358400106430054, 5.856150150299072], [-4.846459865570068, 0.09358400106430054, 5.104690074920654], [-4.139379978179932, 0.09358400106430054, 4.601039886474609], [-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 9.190232276916504, "gt_locations": "[[-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-6.1742634773254395, 0.09358400106430054, 6.3685197830200195], [-5.957756996154785, 0.09358400106430054, 6.2435197830200195], [-5.741250514984131, 0.09358400106430054, 6.1185197830200195], [-5.564473628997803, 0.09358400106430054, 5.941742897033691], [-5.387696743011475, 0.09358400106430054, 5.764966011047363], [-5.2109198570251465, 0.09358400106430054, 5.588189125061035], [-5.0859198570251465, 0.09358400106430054, 5.371682643890381], [-4.909142971038818, 0.09358400106430054, 5.194905757904053], [-4.73236608505249, 0.09358400106430054, 5.018128871917725], [-4.515859603881836, 0.09358400106430054, 4.893128871917725], [-4.299353122711182, 0.09358400106430054, 4.768128871917725], [-4.082846641540527, 0.09358400106430054, 4.643128871917725], [-3.866340160369873, 0.09358400106430054, 4.518128871917725], [-3.6248586177825928, 0.09358400106430054, 4.453423976898193], [-3.3833770751953125, 0.09358400106430054, 4.388719081878662], [-3.1418955326080322, 0.09358400106430054, 4.324014186859131], [-2.900413990020752, 0.09358400106430054, 4.2593092918396], [-2.6839077472686768, 0.09358400106430054, 4.1343092918396], [-2.4674015045166016, 0.09358400106430054, 4.0093092918396], [-2.2508952617645264, 0.09358400106430054, 3.8843092918395996], [-2.034389019012451, 0.09358400106430054, 3.7593092918395996], [-1.8178826570510864, 0.09358400106430054, 3.6343092918395996], [-1.6013762950897217, 0.09358400106430054, 3.5093092918395996], [-1.384869933128357, 0.09358400106430054, 3.3843092918395996], [-1.1683635711669922, 0.09358400106430054, 3.2593092918395996], [-0.9518572092056274, 0.09358400106430054, 3.1343092918395996], [-0.7353508472442627, 0.09358400106430054, 3.0093092918395996], [-0.518844485282898, 0.09358400106430054, 2.8843092918395996], [-0.3023381233215332, 0.09358400106430054, 2.7593092918395996], [-0.08583177626132965, 0.09358400106430054, 2.6343092918395996], [0.15564969182014465, 0.09358400106430054, 2.5696046352386475], [0.3721560537815094, 0.09358400106430054, 2.4446046352386475], [0.5886623859405518, 0.09358400106430054, 2.3196046352386475], [0.8051687479019165, 0.09358400106430054, 2.1946046352386475], [1.0216751098632812, 0.09358400106430054, 2.0696046352386475], [1.1984517574310303, 0.09358400106430054, 1.8928279876708984]]", "gt_actions": "[2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 489, "episode_id": "490", "scene_id": "JeFG25nYj2p", "instruction": "Exit the bedroom and walk into the living room.  Walk past the sofa and stand near the double doors. ", "start_position": [-6.390769958496094, 0.09358400106430054, 6.4935197830200195], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-5.41087007522583, 0.09358400106430054, 5.856150150299072], [-4.846459865570068, 0.09358400106430054, 5.104690074920654], [-4.139379978179932, 0.09358400106430054, 4.601039886474609], [-2.485460042953491, 0.09358400106430054, 4.0524702072143555], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 9.190232276916504, "gt_locations": "[[-6.390769958496094, 0.09358400106430054, 6.4935197830200195], [-6.1742634773254395, 0.09358400106430054, 6.3685197830200195], [-5.957756996154785, 0.09358400106430054, 6.2435197830200195], [-5.741250514984131, 0.09358400106430054, 6.1185197830200195], [-5.564473628997803, 0.09358400106430054, 5.941742897033691], [-5.387696743011475, 0.09358400106430054, 5.764966011047363], [-5.2109198570251465, 0.09358400106430054, 5.588189125061035], [-5.0859198570251465, 0.09358400106430054, 5.371682643890381], [-4.909142971038818, 0.09358400106430054, 5.194905757904053], [-4.73236608505249, 0.09358400106430054, 5.018128871917725], [-4.515859603881836, 0.09358400106430054, 4.893128871917725], [-4.299353122711182, 0.09358400106430054, 4.768128871917725], [-4.082846641540527, 0.09358400106430054, 4.643128871917725], [-3.866340160369873, 0.09358400106430054, 4.518128871917725], [-3.6248586177825928, 0.09358400106430054, 4.453423976898193], [-3.3833770751953125, 0.09358400106430054, 4.388719081878662], [-3.1418955326080322, 0.09358400106430054, 4.324014186859131], [-2.900413990020752, 0.09358400106430054, 4.2593092918396], [-2.6839077472686768, 0.09358400106430054, 4.1343092918396], [-2.4674015045166016, 0.09358400106430054, 4.0093092918396], [-2.2508952617645264, 0.09358400106430054, 3.8843092918395996], [-2.034389019012451, 0.09358400106430054, 3.7593092918395996], [-1.8178826570510864, 0.09358400106430054, 3.6343092918395996], [-1.6013762950897217, 0.09358400106430054, 3.5093092918395996], [-1.384869933128357, 0.09358400106430054, 3.3843092918395996], [-1.1683635711669922, 0.09358400106430054, 3.2593092918395996], [-0.9518572092056274, 0.09358400106430054, 3.1343092918395996], [-0.7353508472442627, 0.09358400106430054, 3.0093092918395996], [-0.518844485282898, 0.09358400106430054, 2.8843092918395996], [-0.3023381233215332, 0.09358400106430054, 2.7593092918395996], [-0.08583177626132965, 0.09358400106430054, 2.6343092918395996], [0.15564969182014465, 0.09358400106430054, 2.5696046352386475], [0.3721560537815094, 0.09358400106430054, 2.4446046352386475], [0.5886623859405518, 0.09358400106430054, 2.3196046352386475], [0.8051687479019165, 0.09358400106430054, 2.1946046352386475], [1.0216751098632812, 0.09358400106430054, 2.0696046352386475], [1.1984517574310303, 0.09358400106430054, 1.8928279876708984]]", "gt_actions": "[2, 2, 1, 1, 1, 2, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 490, "episode_id": "491", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk past the bed. Straight into the hallway. Go straight and slightly left until you get to a room with white couches. Turn left and walk toward the round table. Wait there. ", "start_position": [8.631620407104492, 0.04283595085144043, 15.793700218200684], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [1.7393499612808228, 0.04283595085144043, 4.006309986114502], "goal_radius": 3.0, "reference_path": "[[8.631620407104492, 0.04283595085144043, 15.793700218200684], [8.31406021118164, 0.04283595085144043, 14.288000106811523], [7.477759838104248, 0.04283595085144043, 12.087499618530273], [7.343790054321289, 0.04283595085144043, 10.125200271606445], [5.4217400550842285, 0.04283595085144043, 5.888030052185059], [3.7756900787353516, 0.04283595085144043, 4.711880207061768], [1.7393499612808228, 0.04283595085144043, 4.006309986114502]]", "geodesic_distance": 14.512130737304688, "gt_locations": "[[8.631620407104492, 0.04283595085144043, 15.793700218200684], [8.566915512084961, 0.04283595085144043, 15.552218437194824], [8.50221061706543, 0.04283595085144043, 15.310736656188965], [8.437505722045898, 0.04283595085144043, 15.069254875183105], [8.372800827026367, 0.04283595085144043, 14.827773094177246], [8.308095932006836, 0.04283595085144043, 14.586291313171387], [8.243391036987305, 0.04283595085144043, 14.344809532165527], [8.178686141967773, 0.04283595085144043, 14.103327751159668], [8.113981246948242, 0.04283595085144043, 13.861845970153809], [8.049276351928711, 0.04283595085144043, 13.62036418914795], [7.98457145690918, 0.04283595085144043, 13.37888240814209], [7.919866561889648, 0.04283595085144043, 13.13740062713623], [7.855161666870117, 0.04283595085144043, 12.895918846130371], [7.730161666870117, 0.04283595085144043, 12.679412841796875], [7.605161666870117, 0.04283595085144043, 12.462906837463379], [7.540456771850586, 0.04283595085144043, 12.22142505645752], [7.475751876831055, 0.04283595085144043, 11.97994327545166], [7.475751876831055, 0.04283595085144043, 11.72994327545166], [7.475751876831055, 0.04283595085144043, 11.47994327545166], [7.475751876831055, 0.04283595085144043, 11.22994327545166], [7.475751876831055, 0.04283595085144043, 10.97994327545166], [7.475751876831055, 0.04283595085144043, 10.72994327545166], [7.411046981811523, 0.04283595085144043, 10.4884614944458], [7.346342086791992, 0.04283595085144043, 10.246979713439941], [7.281637191772461, 0.04283595085144043, 10.005497932434082], [7.21693229675293, 0.04283595085144043, 9.764016151428223], [7.152227401733398, 0.04283595085144043, 9.522534370422363], [7.087522506713867, 0.04283595085144043, 9.281052589416504], [6.962522506713867, 0.04283595085144043, 9.064546585083008], [6.897817611694336, 0.04283595085144043, 8.823064804077148], [6.833112716674805, 0.04283595085144043, 8.581583023071289], [6.708112716674805, 0.04283595085144043, 8.365077018737793], [6.583112716674805, 0.04283595085144043, 8.148571014404297], [6.458112716674805, 0.04283595085144043, 7.932064533233643], [6.333112716674805, 0.04283595085144043, 7.715558052062988], [6.208112716674805, 0.04283595085144043, 7.499051570892334], [6.083112716674805, 0.04283595085144043, 7.28254508972168], [5.958112716674805, 0.04283595085144043, 7.066038608551025], [5.833112716674805, 0.04283595085144043, 6.849532127380371], [5.708112716674805, 0.04283595085144043, 6.633025646209717], [5.583112716674805, 0.04283595085144043, 6.4165191650390625], [5.518407821655273, 0.04283595085144043, 6.175037860870361], [5.341630935668945, 0.04283595085144043, 5.998260974884033], [5.164854049682617, 0.04283595085144043, 5.821484088897705], [4.988077163696289, 0.04283595085144043, 5.644707202911377], [4.811300277709961, 0.04283595085144043, 5.467930316925049], [4.634523391723633, 0.04283595085144043, 5.291153430938721], [4.457746505737305, 0.04283595085144043, 5.114376544952393], [4.24124002456665, 0.04283595085144043, 4.989376544952393], [4.024733543395996, 0.04283595085144043, 4.864376544952393], [3.808227062225342, 0.04283595085144043, 4.739376544952393], [3.5667455196380615, 0.04283595085144043, 4.674671649932861], [3.3252639770507812, 0.04283595085144043, 4.60996675491333], [3.083782434463501, 0.04283595085144043, 4.545261859893799], [2.8423008918762207, 0.04283595085144043, 4.480556964874268], [2.6008193492889404, 0.04283595085144043, 4.415852069854736], [2.384312868118286, 0.04283595085144043, 4.290852069854736], [2.167806386947632, 0.04283595085144043, 4.165852069854736]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 491, "episode_id": "492", "scene_id": "Vvot9Ly1tCj", "instruction": "Exit the bedroom and enter the living room.  Stand by the sofa near the patio doors. ", "start_position": [8.631620407104492, 0.04283595085144043, 15.793700218200684], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [1.7393499612808228, 0.04283595085144043, 4.006309986114502], "goal_radius": 3.0, "reference_path": "[[8.631620407104492, 0.04283595085144043, 15.793700218200684], [8.31406021118164, 0.04283595085144043, 14.288000106811523], [7.477759838104248, 0.04283595085144043, 12.087499618530273], [7.343790054321289, 0.04283595085144043, 10.125200271606445], [5.4217400550842285, 0.04283595085144043, 5.888030052185059], [3.7756900787353516, 0.04283595085144043, 4.711880207061768], [1.7393499612808228, 0.04283595085144043, 4.006309986114502]]", "geodesic_distance": 14.512130737304688, "gt_locations": "[[8.631620407104492, 0.04283595085144043, 15.793700218200684], [8.566915512084961, 0.04283595085144043, 15.552218437194824], [8.50221061706543, 0.04283595085144043, 15.310736656188965], [8.437505722045898, 0.04283595085144043, 15.069254875183105], [8.372800827026367, 0.04283595085144043, 14.827773094177246], [8.308095932006836, 0.04283595085144043, 14.586291313171387], [8.243391036987305, 0.04283595085144043, 14.344809532165527], [8.178686141967773, 0.04283595085144043, 14.103327751159668], [8.113981246948242, 0.04283595085144043, 13.861845970153809], [8.049276351928711, 0.04283595085144043, 13.62036418914795], [7.98457145690918, 0.04283595085144043, 13.37888240814209], [7.919866561889648, 0.04283595085144043, 13.13740062713623], [7.855161666870117, 0.04283595085144043, 12.895918846130371], [7.730161666870117, 0.04283595085144043, 12.679412841796875], [7.605161666870117, 0.04283595085144043, 12.462906837463379], [7.540456771850586, 0.04283595085144043, 12.22142505645752], [7.475751876831055, 0.04283595085144043, 11.97994327545166], [7.475751876831055, 0.04283595085144043, 11.72994327545166], [7.475751876831055, 0.04283595085144043, 11.47994327545166], [7.475751876831055, 0.04283595085144043, 11.22994327545166], [7.475751876831055, 0.04283595085144043, 10.97994327545166], [7.475751876831055, 0.04283595085144043, 10.72994327545166], [7.411046981811523, 0.04283595085144043, 10.4884614944458], [7.346342086791992, 0.04283595085144043, 10.246979713439941], [7.281637191772461, 0.04283595085144043, 10.005497932434082], [7.21693229675293, 0.04283595085144043, 9.764016151428223], [7.152227401733398, 0.04283595085144043, 9.522534370422363], [7.087522506713867, 0.04283595085144043, 9.281052589416504], [6.962522506713867, 0.04283595085144043, 9.064546585083008], [6.897817611694336, 0.04283595085144043, 8.823064804077148], [6.833112716674805, 0.04283595085144043, 8.581583023071289], [6.708112716674805, 0.04283595085144043, 8.365077018737793], [6.583112716674805, 0.04283595085144043, 8.148571014404297], [6.458112716674805, 0.04283595085144043, 7.932064533233643], [6.333112716674805, 0.04283595085144043, 7.715558052062988], [6.208112716674805, 0.04283595085144043, 7.499051570892334], [6.083112716674805, 0.04283595085144043, 7.28254508972168], [5.958112716674805, 0.04283595085144043, 7.066038608551025], [5.833112716674805, 0.04283595085144043, 6.849532127380371], [5.708112716674805, 0.04283595085144043, 6.633025646209717], [5.583112716674805, 0.04283595085144043, 6.4165191650390625], [5.518407821655273, 0.04283595085144043, 6.175037860870361], [5.341630935668945, 0.04283595085144043, 5.998260974884033], [5.164854049682617, 0.04283595085144043, 5.821484088897705], [4.988077163696289, 0.04283595085144043, 5.644707202911377], [4.811300277709961, 0.04283595085144043, 5.467930316925049], [4.634523391723633, 0.04283595085144043, 5.291153430938721], [4.457746505737305, 0.04283595085144043, 5.114376544952393], [4.24124002456665, 0.04283595085144043, 4.989376544952393], [4.024733543395996, 0.04283595085144043, 4.864376544952393], [3.808227062225342, 0.04283595085144043, 4.739376544952393], [3.5667455196380615, 0.04283595085144043, 4.674671649932861], [3.3252639770507812, 0.04283595085144043, 4.60996675491333], [3.083782434463501, 0.04283595085144043, 4.545261859893799], [2.8423008918762207, 0.04283595085144043, 4.480556964874268], [2.6008193492889404, 0.04283595085144043, 4.415852069854736], [2.384312868118286, 0.04283595085144043, 4.290852069854736], [2.167806386947632, 0.04283595085144043, 4.165852069854736]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 492, "episode_id": "493", "scene_id": "Vvot9Ly1tCj", "instruction": "Turn right and exit the bedroom and pass the door on the left. Enter the living room area on the left and turn left. Wait by the door and table. ", "start_position": [8.631620407104492, 0.04283595085144043, 15.793700218200684], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [1.7393499612808228, 0.04283595085144043, 4.006309986114502], "goal_radius": 3.0, "reference_path": "[[8.631620407104492, 0.04283595085144043, 15.793700218200684], [8.31406021118164, 0.04283595085144043, 14.288000106811523], [7.477759838104248, 0.04283595085144043, 12.087499618530273], [7.343790054321289, 0.04283595085144043, 10.125200271606445], [5.4217400550842285, 0.04283595085144043, 5.888030052185059], [3.7756900787353516, 0.04283595085144043, 4.711880207061768], [1.7393499612808228, 0.04283595085144043, 4.006309986114502]]", "geodesic_distance": 14.512130737304688, "gt_locations": "[[8.631620407104492, 0.04283595085144043, 15.793700218200684], [8.566915512084961, 0.04283595085144043, 15.552218437194824], [8.50221061706543, 0.04283595085144043, 15.310736656188965], [8.437505722045898, 0.04283595085144043, 15.069254875183105], [8.372800827026367, 0.04283595085144043, 14.827773094177246], [8.308095932006836, 0.04283595085144043, 14.586291313171387], [8.243391036987305, 0.04283595085144043, 14.344809532165527], [8.178686141967773, 0.04283595085144043, 14.103327751159668], [8.113981246948242, 0.04283595085144043, 13.861845970153809], [8.049276351928711, 0.04283595085144043, 13.62036418914795], [7.98457145690918, 0.04283595085144043, 13.37888240814209], [7.919866561889648, 0.04283595085144043, 13.13740062713623], [7.855161666870117, 0.04283595085144043, 12.895918846130371], [7.730161666870117, 0.04283595085144043, 12.679412841796875], [7.605161666870117, 0.04283595085144043, 12.462906837463379], [7.540456771850586, 0.04283595085144043, 12.22142505645752], [7.475751876831055, 0.04283595085144043, 11.97994327545166], [7.475751876831055, 0.04283595085144043, 11.72994327545166], [7.475751876831055, 0.04283595085144043, 11.47994327545166], [7.475751876831055, 0.04283595085144043, 11.22994327545166], [7.475751876831055, 0.04283595085144043, 10.97994327545166], [7.475751876831055, 0.04283595085144043, 10.72994327545166], [7.411046981811523, 0.04283595085144043, 10.4884614944458], [7.346342086791992, 0.04283595085144043, 10.246979713439941], [7.281637191772461, 0.04283595085144043, 10.005497932434082], [7.21693229675293, 0.04283595085144043, 9.764016151428223], [7.152227401733398, 0.04283595085144043, 9.522534370422363], [7.087522506713867, 0.04283595085144043, 9.281052589416504], [6.962522506713867, 0.04283595085144043, 9.064546585083008], [6.897817611694336, 0.04283595085144043, 8.823064804077148], [6.833112716674805, 0.04283595085144043, 8.581583023071289], [6.708112716674805, 0.04283595085144043, 8.365077018737793], [6.583112716674805, 0.04283595085144043, 8.148571014404297], [6.458112716674805, 0.04283595085144043, 7.932064533233643], [6.333112716674805, 0.04283595085144043, 7.715558052062988], [6.208112716674805, 0.04283595085144043, 7.499051570892334], [6.083112716674805, 0.04283595085144043, 7.28254508972168], [5.958112716674805, 0.04283595085144043, 7.066038608551025], [5.833112716674805, 0.04283595085144043, 6.849532127380371], [5.708112716674805, 0.04283595085144043, 6.633025646209717], [5.583112716674805, 0.04283595085144043, 6.4165191650390625], [5.518407821655273, 0.04283595085144043, 6.175037860870361], [5.341630935668945, 0.04283595085144043, 5.998260974884033], [5.164854049682617, 0.04283595085144043, 5.821484088897705], [4.988077163696289, 0.04283595085144043, 5.644707202911377], [4.811300277709961, 0.04283595085144043, 5.467930316925049], [4.634523391723633, 0.04283595085144043, 5.291153430938721], [4.457746505737305, 0.04283595085144043, 5.114376544952393], [4.24124002456665, 0.04283595085144043, 4.989376544952393], [4.024733543395996, 0.04283595085144043, 4.864376544952393], [3.808227062225342, 0.04283595085144043, 4.739376544952393], [3.5667455196380615, 0.04283595085144043, 4.674671649932861], [3.3252639770507812, 0.04283595085144043, 4.60996675491333], [3.083782434463501, 0.04283595085144043, 4.545261859893799], [2.8423008918762207, 0.04283595085144043, 4.480556964874268], [2.6008193492889404, 0.04283595085144043, 4.415852069854736], [2.384312868118286, 0.04283595085144043, 4.290852069854736], [2.167806386947632, 0.04283595085144043, 4.165852069854736]]", "gt_actions": "[3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 493, "episode_id": "494", "scene_id": "B6ByNegPMKs", "instruction": "Walk down the corridor and wait at the end, near the exit sign. ", "start_position": [55.25120162963867, 0.08020400255918503, 2.9543800354003906], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [54.288700103759766, 0.08020400255918503, 13.262100219726562], "goal_radius": 3.0, "reference_path": "[[55.25120162963867, 0.08020400255918503, 2.9543800354003906], [54.80720138549805, 0.1375926434993744, 4.637050151824951], [54.80830001831055, 0.19022876024246216, 6.873030185699463], [54.8036994934082, 0.08020400255918503, 9.267820358276367], [54.707698822021484, 0.08020400255918503, 11.350500106811523], [54.288700103759766, 0.08020400255918503, 13.262100219726562]]", "geodesic_distance": 10.352560043334961, "gt_locations": "[[55.25120162963867, 0.08020400255918503, 2.9543800354003906], [55.18649673461914, 0.08020400255918503, 3.195861577987671], [55.12179183959961, 0.08020400255918503, 3.437343120574951], [55.05708694458008, 0.08068087697029114, 3.6788246631622314], [54.99238204956055, 0.09503732621669769, 3.9203062057495117], [54.927677154541016, 0.10939376056194305, 4.161787509918213], [54.927677154541016, 0.12370868027210236, 4.411787509918213], [54.927677154541016, 0.13802361488342285, 4.661787509918213], [54.927677154541016, 0.15233854949474335, 4.911787509918213], [54.927677154541016, 0.16665346920490265, 5.161787509918213], [54.927677154541016, 0.17526891827583313, 5.411787509918213], [54.927677154541016, 0.1746862232685089, 5.661787509918213], [54.927677154541016, 0.1741035282611847, 5.911787509918213], [54.927677154541016, 0.17352083325386047, 6.161787509918213], [54.862972259521484, 0.18291258811950684, 6.403268814086914], [54.862972259521484, 0.18232989311218262, 6.653268814086914], [54.862972259521484, 0.1817471981048584, 6.903268814086914], [54.862972259521484, 0.18141940236091614, 7.153268814086914], [54.862972259521484, 0.18141940236091614, 7.403268814086914], [54.862972259521484, 0.18141940236091614, 7.653268814086914], [54.862972259521484, 0.1569977104663849, 7.903268814086914], [54.862972259521484, 0.10547101497650146, 8.153268814086914], [54.862972259521484, 0.08020400255918503, 8.403268814086914], [54.862972259521484, 0.08020400255918503, 8.653268814086914], [54.862972259521484, 0.08020400255918503, 8.903268814086914], [54.862972259521484, 0.08020400255918503, 9.153268814086914], [54.862972259521484, 0.08020400255918503, 9.403268814086914], [54.862972259521484, 0.08020400255918503, 9.653268814086914], [54.862972259521484, 0.08020400255918503, 9.903268814086914], [54.862972259521484, 0.08020400255918503, 10.153268814086914], [54.862972259521484, 0.08020400255918503, 10.403268814086914], [54.862972259521484, 0.08020400255918503, 10.653268814086914], [54.79826736450195, 0.08020400255918503, 10.894750595092773], [54.73356246948242, 0.08020400255918503, 11.136232376098633], [54.66885757446289, 0.08020400255918503, 11.377714157104492], [54.60415267944336, 0.08020400255918503, 11.619195938110352], [54.53944778442383, 0.08020400255918503, 11.860677719116211], [54.4747428894043, 0.08020400255918503, 12.10215950012207], [54.410037994384766, 0.08020400255918503, 12.34364128112793], [54.345333099365234, 0.08020400255918503, 12.585123062133789], [54.345333099365234, 0.08020400255918503, 12.835123062133789]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 494, "episode_id": "495", "scene_id": "B6ByNegPMKs", "instruction": "Go straight down the hallway and stop in front of the big white pillar. ", "start_position": [55.25120162963867, 0.08020400255918503, 2.9543800354003906], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [54.288700103759766, 0.08020400255918503, 13.262100219726562], "goal_radius": 3.0, "reference_path": "[[55.25120162963867, 0.08020400255918503, 2.9543800354003906], [54.80720138549805, 0.1375926434993744, 4.637050151824951], [54.80830001831055, 0.19022876024246216, 6.873030185699463], [54.8036994934082, 0.08020400255918503, 9.267820358276367], [54.707698822021484, 0.08020400255918503, 11.350500106811523], [54.288700103759766, 0.08020400255918503, 13.262100219726562]]", "geodesic_distance": 10.352560043334961, "gt_locations": "[[55.25120162963867, 0.08020400255918503, 2.9543800354003906], [55.18649673461914, 0.08020400255918503, 3.195861577987671], [55.12179183959961, 0.08020400255918503, 3.437343120574951], [55.05708694458008, 0.08068087697029114, 3.6788246631622314], [54.99238204956055, 0.09503732621669769, 3.9203062057495117], [54.927677154541016, 0.10939376056194305, 4.161787509918213], [54.927677154541016, 0.12370868027210236, 4.411787509918213], [54.927677154541016, 0.13802361488342285, 4.661787509918213], [54.927677154541016, 0.15233854949474335, 4.911787509918213], [54.927677154541016, 0.16665346920490265, 5.161787509918213], [54.927677154541016, 0.17526891827583313, 5.411787509918213], [54.927677154541016, 0.1746862232685089, 5.661787509918213], [54.927677154541016, 0.1741035282611847, 5.911787509918213], [54.927677154541016, 0.17352083325386047, 6.161787509918213], [54.862972259521484, 0.18291258811950684, 6.403268814086914], [54.862972259521484, 0.18232989311218262, 6.653268814086914], [54.862972259521484, 0.1817471981048584, 6.903268814086914], [54.862972259521484, 0.18141940236091614, 7.153268814086914], [54.862972259521484, 0.18141940236091614, 7.403268814086914], [54.862972259521484, 0.18141940236091614, 7.653268814086914], [54.862972259521484, 0.1569977104663849, 7.903268814086914], [54.862972259521484, 0.10547101497650146, 8.153268814086914], [54.862972259521484, 0.08020400255918503, 8.403268814086914], [54.862972259521484, 0.08020400255918503, 8.653268814086914], [54.862972259521484, 0.08020400255918503, 8.903268814086914], [54.862972259521484, 0.08020400255918503, 9.153268814086914], [54.862972259521484, 0.08020400255918503, 9.403268814086914], [54.862972259521484, 0.08020400255918503, 9.653268814086914], [54.862972259521484, 0.08020400255918503, 9.903268814086914], [54.862972259521484, 0.08020400255918503, 10.153268814086914], [54.862972259521484, 0.08020400255918503, 10.403268814086914], [54.862972259521484, 0.08020400255918503, 10.653268814086914], [54.79826736450195, 0.08020400255918503, 10.894750595092773], [54.73356246948242, 0.08020400255918503, 11.136232376098633], [54.66885757446289, 0.08020400255918503, 11.377714157104492], [54.60415267944336, 0.08020400255918503, 11.619195938110352], [54.53944778442383, 0.08020400255918503, 11.860677719116211], [54.4747428894043, 0.08020400255918503, 12.10215950012207], [54.410037994384766, 0.08020400255918503, 12.34364128112793], [54.345333099365234, 0.08020400255918503, 12.585123062133789], [54.345333099365234, 0.08020400255918503, 12.835123062133789]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 495, "episode_id": "496", "scene_id": "B6ByNegPMKs", "instruction": "Walk forward down the hall with the door at your back. Stop under the light at the end of the hall. ", "start_position": [55.25120162963867, 0.08020400255918503, 2.9543800354003906], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [54.288700103759766, 0.08020400255918503, 13.262100219726562], "goal_radius": 3.0, "reference_path": "[[55.25120162963867, 0.08020400255918503, 2.9543800354003906], [54.80720138549805, 0.1375926434993744, 4.637050151824951], [54.80830001831055, 0.19022876024246216, 6.873030185699463], [54.8036994934082, 0.08020400255918503, 9.267820358276367], [54.707698822021484, 0.08020400255918503, 11.350500106811523], [54.288700103759766, 0.08020400255918503, 13.262100219726562]]", "geodesic_distance": 10.352560043334961, "gt_locations": "[[55.25120162963867, 0.08020400255918503, 2.9543800354003906], [55.18649673461914, 0.08020400255918503, 3.195861577987671], [55.12179183959961, 0.08020400255918503, 3.437343120574951], [55.05708694458008, 0.08068087697029114, 3.6788246631622314], [54.99238204956055, 0.09503732621669769, 3.9203062057495117], [54.927677154541016, 0.10939376056194305, 4.161787509918213], [54.927677154541016, 0.12370868027210236, 4.411787509918213], [54.927677154541016, 0.13802361488342285, 4.661787509918213], [54.927677154541016, 0.15233854949474335, 4.911787509918213], [54.927677154541016, 0.16665346920490265, 5.161787509918213], [54.927677154541016, 0.17526891827583313, 5.411787509918213], [54.927677154541016, 0.1746862232685089, 5.661787509918213], [54.927677154541016, 0.1741035282611847, 5.911787509918213], [54.927677154541016, 0.17352083325386047, 6.161787509918213], [54.862972259521484, 0.18291258811950684, 6.403268814086914], [54.862972259521484, 0.18232989311218262, 6.653268814086914], [54.862972259521484, 0.1817471981048584, 6.903268814086914], [54.862972259521484, 0.18141940236091614, 7.153268814086914], [54.862972259521484, 0.18141940236091614, 7.403268814086914], [54.862972259521484, 0.18141940236091614, 7.653268814086914], [54.862972259521484, 0.1569977104663849, 7.903268814086914], [54.862972259521484, 0.10547101497650146, 8.153268814086914], [54.862972259521484, 0.08020400255918503, 8.403268814086914], [54.862972259521484, 0.08020400255918503, 8.653268814086914], [54.862972259521484, 0.08020400255918503, 8.903268814086914], [54.862972259521484, 0.08020400255918503, 9.153268814086914], [54.862972259521484, 0.08020400255918503, 9.403268814086914], [54.862972259521484, 0.08020400255918503, 9.653268814086914], [54.862972259521484, 0.08020400255918503, 9.903268814086914], [54.862972259521484, 0.08020400255918503, 10.153268814086914], [54.862972259521484, 0.08020400255918503, 10.403268814086914], [54.862972259521484, 0.08020400255918503, 10.653268814086914], [54.79826736450195, 0.08020400255918503, 10.894750595092773], [54.73356246948242, 0.08020400255918503, 11.136232376098633], [54.66885757446289, 0.08020400255918503, 11.377714157104492], [54.60415267944336, 0.08020400255918503, 11.619195938110352], [54.53944778442383, 0.08020400255918503, 11.860677719116211], [54.4747428894043, 0.08020400255918503, 12.10215950012207], [54.410037994384766, 0.08020400255918503, 12.34364128112793], [54.345333099365234, 0.08020400255918503, 12.585123062133789], [54.345333099365234, 0.08020400255918503, 12.835123062133789]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 496, "episode_id": "497", "scene_id": "mJXqzFtmKg4", "instruction": "Go through the doorway with metal art above it. Go through the next doorway into the kitchen and stop. ", "start_position": [-4.278480052947998, 0.003321051597595215, -10.944499969482422], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.8418400287628174, 0.003321051597595215, -5.052989959716797], "goal_radius": 3.0, "reference_path": "[[-4.278480052947998, 0.003321051597595215, -10.944499969482422], [-3.6256799697875977, 0.003321051597595215, -10.833399772644043], [-3.7654800415039062, 0.003321051597595215, -7.912960052490234], [-3.8637499809265137, 0.003321051597595215, -6.952010154724121], [-3.807770013809204, 0.003321051597595215, -6.09483003616333], [-3.8418400287628174, 0.003321051597595215, -5.052989959716797]]", "geodesic_distance": 6.056002140045166, "gt_locations": "[[-4.278480052947998, 0.003321051597595215, -10.944499969482422], [-4.036998748779297, 0.003321051597595215, -10.87979507446289], [-3.9722938537597656, 0.003321051597595215, -10.638313293457031], [-3.9075889587402344, 0.003321051597595215, -10.396831512451172], [-3.7825889587402344, 0.003321051597595215, -10.180325508117676], [-3.717884063720703, 0.003321051597595215, -9.938843727111816], [-3.653179168701172, 0.003321051597595215, -9.697361946105957], [-3.653179168701172, 0.003321051597595215, -9.447361946105957], [-3.653179168701172, 0.003321051597595215, -9.197361946105957], [-3.6212782859802246, 0.003321051597595215, -8.938247680664062], [-3.6212782859802246, 0.003321051597595215, -8.688247680664062], [-3.6859829425811768, 0.003321051597595215, -8.446765899658203], [-3.750687599182129, 0.003321051597595215, -8.205284118652344], [-3.750687599182129, 0.003321051597595215, -7.955284118652344], [-3.750687599182129, 0.003321051597595215, -7.705284118652344], [-3.750687599182129, 0.003321051597595215, -7.455284118652344], [-3.815392255783081, 0.003321051597595215, -7.213802814483643], [-3.815392255783081, 0.003321051597595215, -6.963802814483643], [-3.815392255783081, 0.003321051597595215, -6.713802814483643], [-3.815392255783081, 0.003321051597595215, -6.463802814483643], [-3.815392255783081, 0.003321051597595215, -6.213802814483643], [-3.815392255783081, 0.003321051597595215, -5.963802814483643], [-3.815392255783081, 0.003321051597595215, -5.713802814483643], [-3.815392255783081, 0.003321051597595215, -5.463802814483643]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 497, "episode_id": "498", "scene_id": "mJXqzFtmKg4", "instruction": "Go around the dining room table and head for the narrow archway in the dining room connecting the kitchen. Just you enter the kitchen stop and wait there. ", "start_position": [-4.278480052947998, 0.003321051597595215, -10.944499969482422], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.8418400287628174, 0.003321051597595215, -5.052989959716797], "goal_radius": 3.0, "reference_path": "[[-4.278480052947998, 0.003321051597595215, -10.944499969482422], [-3.6256799697875977, 0.003321051597595215, -10.833399772644043], [-3.7654800415039062, 0.003321051597595215, -7.912960052490234], [-3.8637499809265137, 0.003321051597595215, -6.952010154724121], [-3.807770013809204, 0.003321051597595215, -6.09483003616333], [-3.8418400287628174, 0.003321051597595215, -5.052989959716797]]", "geodesic_distance": 6.056002140045166, "gt_locations": "[[-4.278480052947998, 0.003321051597595215, -10.944499969482422], [-4.036998748779297, 0.003321051597595215, -10.87979507446289], [-3.9722938537597656, 0.003321051597595215, -10.638313293457031], [-3.9075889587402344, 0.003321051597595215, -10.396831512451172], [-3.7825889587402344, 0.003321051597595215, -10.180325508117676], [-3.717884063720703, 0.003321051597595215, -9.938843727111816], [-3.653179168701172, 0.003321051597595215, -9.697361946105957], [-3.653179168701172, 0.003321051597595215, -9.447361946105957], [-3.653179168701172, 0.003321051597595215, -9.197361946105957], [-3.6212782859802246, 0.003321051597595215, -8.938247680664062], [-3.6212782859802246, 0.003321051597595215, -8.688247680664062], [-3.6859829425811768, 0.003321051597595215, -8.446765899658203], [-3.750687599182129, 0.003321051597595215, -8.205284118652344], [-3.750687599182129, 0.003321051597595215, -7.955284118652344], [-3.750687599182129, 0.003321051597595215, -7.705284118652344], [-3.750687599182129, 0.003321051597595215, -7.455284118652344], [-3.815392255783081, 0.003321051597595215, -7.213802814483643], [-3.815392255783081, 0.003321051597595215, -6.963802814483643], [-3.815392255783081, 0.003321051597595215, -6.713802814483643], [-3.815392255783081, 0.003321051597595215, -6.463802814483643], [-3.815392255783081, 0.003321051597595215, -6.213802814483643], [-3.815392255783081, 0.003321051597595215, -5.963802814483643], [-3.815392255783081, 0.003321051597595215, -5.713802814483643], [-3.815392255783081, 0.003321051597595215, -5.463802814483643]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 498, "episode_id": "499", "scene_id": "mJXqzFtmKg4", "instruction": "Walk right around the table and chairs and into the entryway. Stop just inside the kitchen. ", "start_position": [-4.278480052947998, 0.003321051597595215, -10.944499969482422], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.8418400287628174, 0.003321051597595215, -5.052989959716797], "goal_radius": 3.0, "reference_path": "[[-4.278480052947998, 0.003321051597595215, -10.944499969482422], [-3.6256799697875977, 0.003321051597595215, -10.833399772644043], [-3.7654800415039062, 0.003321051597595215, -7.912960052490234], [-3.8637499809265137, 0.003321051597595215, -6.952010154724121], [-3.807770013809204, 0.003321051597595215, -6.09483003616333], [-3.8418400287628174, 0.003321051597595215, -5.052989959716797]]", "geodesic_distance": 6.056002140045166, "gt_locations": "[[-4.278480052947998, 0.003321051597595215, -10.944499969482422], [-4.036998748779297, 0.003321051597595215, -10.87979507446289], [-3.9722938537597656, 0.003321051597595215, -10.638313293457031], [-3.9075889587402344, 0.003321051597595215, -10.396831512451172], [-3.7825889587402344, 0.003321051597595215, -10.180325508117676], [-3.717884063720703, 0.003321051597595215, -9.938843727111816], [-3.653179168701172, 0.003321051597595215, -9.697361946105957], [-3.653179168701172, 0.003321051597595215, -9.447361946105957], [-3.653179168701172, 0.003321051597595215, -9.197361946105957], [-3.6212782859802246, 0.003321051597595215, -8.938247680664062], [-3.6212782859802246, 0.003321051597595215, -8.688247680664062], [-3.6859829425811768, 0.003321051597595215, -8.446765899658203], [-3.750687599182129, 0.003321051597595215, -8.205284118652344], [-3.750687599182129, 0.003321051597595215, -7.955284118652344], [-3.750687599182129, 0.003321051597595215, -7.705284118652344], [-3.750687599182129, 0.003321051597595215, -7.455284118652344], [-3.815392255783081, 0.003321051597595215, -7.213802814483643], [-3.815392255783081, 0.003321051597595215, -6.963802814483643], [-3.815392255783081, 0.003321051597595215, -6.713802814483643], [-3.815392255783081, 0.003321051597595215, -6.463802814483643], [-3.815392255783081, 0.003321051597595215, -6.213802814483643], [-3.815392255783081, 0.003321051597595215, -5.963802814483643], [-3.815392255783081, 0.003321051597595215, -5.713802814483643], [-3.815392255783081, 0.003321051597595215, -5.463802814483643]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 499, "episode_id": "500", "scene_id": "ac26ZMwG7aT", "instruction": "Step through the door and then take a right past the shelves, enter the nearest open door and into the bathroom, walk towards the bath tub and stop once you've reached the shower. ", "start_position": [12.837200164794922, 0.13922199606895447, -8.838459968566895], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [14.397600173950195, 0.13922199606895447, -1.4663200378417969], "goal_radius": 3.0, "reference_path": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [10.880999565124512, 0.13922199606895447, -5.994470119476318], [12.534600257873535, 0.13922199606895447, -4.112370014190674], [12.4399995803833, 0.2625732421875, -1.4862899780273438], [14.397600173950195, 0.13922199606895447, -1.4663200378417969]]", "geodesic_distance": 9.550196647644043, "gt_locations": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [12.620694160461426, 0.13922199606895447, -8.713459968566895], [12.40418815612793, 0.13922199606895447, -8.588459968566895], [12.187682151794434, 0.13922199606895447, -8.463459968566895], [11.971176147460938, 0.13922199606895447, -8.338459968566895], [11.729694366455078, 0.13922199606895447, -8.273755073547363], [11.488212585449219, 0.13922199606895447, -8.209050178527832], [11.271706581115723, 0.13922199606895447, -8.084050178527832], [11.207001686096191, 0.13922199606895447, -7.842568874359131], [11.14229679107666, 0.13922199606895447, -7.60108757019043], [11.077591896057129, 0.13922199606895447, -7.3596062660217285], [11.012887001037598, 0.13922199606895447, -7.118124961853027], [10.948182106018066, 0.13922199606895447, -6.876643657684326], [10.948182106018066, 0.13922199606895447, -6.626643657684326], [10.948182106018066, 0.13922199606895447, -6.376643657684326], [10.948182106018066, 0.13922199606895447, -6.126643657684326], [11.012887001037598, 0.13922199606895447, -5.885162353515625], [11.137887001037598, 0.13922199606895447, -5.668655872344971], [11.314663887023926, 0.13922199606895447, -5.491878986358643], [11.491440773010254, 0.13922199606895447, -5.3151021003723145], [11.668217658996582, 0.13922199606895447, -5.138325214385986], [11.84499454498291, 0.13922199606895447, -4.961548328399658], [12.021771430969238, 0.13922199606895447, -4.78477144241333], [12.198548316955566, 0.13922199606895447, -4.607994556427002], [12.323548316955566, 0.13922199606895447, -4.391488075256348], [12.323548316955566, 0.13922199606895447, -4.141488075256348], [12.323548316955566, 0.13922199606895447, -3.8914880752563477], [12.323548316955566, 0.13922199606895447, -3.6414880752563477], [12.323548316955566, 0.13922199606895447, -3.3914880752563477], [12.323548316955566, 0.13922199606895447, -3.1414880752563477], [12.323548316955566, 0.13922199606895447, -2.8914880752563477], [12.323548316955566, 0.13922199606895447, -2.6414880752563477], [12.323548316955566, 0.13922199606895447, -2.3914880752563477], [12.323548316955566, 0.18751947581768036, -2.1414880752563477], [12.388253211975098, 0.24655073881149292, -1.9000065326690674], [12.629734992980957, 0.25375106930732727, -1.8353017568588257], [12.871216773986816, 0.2486279457807541, -1.770596981048584], [13.112698554992676, 0.21920958161354065, -1.7058922052383423], [13.354180335998535, 0.22499418258666992, -1.6411874294281006], [13.595662117004395, 0.13922199606895447, -1.5764826536178589], [13.837143898010254, 0.13922199606895447, -1.5117778778076172], [14.087143898010254, 0.13922199606895447, -1.5117778778076172]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 500, "episode_id": "501", "scene_id": "ac26ZMwG7aT", "instruction": "Exit the media room and take a hard left. Head towards the bathroom on the left. Go to the tub and turn left. Wait in front of the shower. ", "start_position": [12.837200164794922, 0.13922199606895447, -8.838459968566895], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [14.397600173950195, 0.13922199606895447, -1.4663200378417969], "goal_radius": 3.0, "reference_path": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [10.880999565124512, 0.13922199606895447, -5.994470119476318], [12.534600257873535, 0.13922199606895447, -4.112370014190674], [12.4399995803833, 0.2625732421875, -1.4862899780273438], [14.397600173950195, 0.13922199606895447, -1.4663200378417969]]", "geodesic_distance": 9.550196647644043, "gt_locations": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [12.620694160461426, 0.13922199606895447, -8.713459968566895], [12.40418815612793, 0.13922199606895447, -8.588459968566895], [12.187682151794434, 0.13922199606895447, -8.463459968566895], [11.971176147460938, 0.13922199606895447, -8.338459968566895], [11.729694366455078, 0.13922199606895447, -8.273755073547363], [11.488212585449219, 0.13922199606895447, -8.209050178527832], [11.271706581115723, 0.13922199606895447, -8.084050178527832], [11.207001686096191, 0.13922199606895447, -7.842568874359131], [11.14229679107666, 0.13922199606895447, -7.60108757019043], [11.077591896057129, 0.13922199606895447, -7.3596062660217285], [11.012887001037598, 0.13922199606895447, -7.118124961853027], [10.948182106018066, 0.13922199606895447, -6.876643657684326], [10.948182106018066, 0.13922199606895447, -6.626643657684326], [10.948182106018066, 0.13922199606895447, -6.376643657684326], [10.948182106018066, 0.13922199606895447, -6.126643657684326], [11.012887001037598, 0.13922199606895447, -5.885162353515625], [11.137887001037598, 0.13922199606895447, -5.668655872344971], [11.314663887023926, 0.13922199606895447, -5.491878986358643], [11.491440773010254, 0.13922199606895447, -5.3151021003723145], [11.668217658996582, 0.13922199606895447, -5.138325214385986], [11.84499454498291, 0.13922199606895447, -4.961548328399658], [12.021771430969238, 0.13922199606895447, -4.78477144241333], [12.198548316955566, 0.13922199606895447, -4.607994556427002], [12.323548316955566, 0.13922199606895447, -4.391488075256348], [12.323548316955566, 0.13922199606895447, -4.141488075256348], [12.323548316955566, 0.13922199606895447, -3.8914880752563477], [12.323548316955566, 0.13922199606895447, -3.6414880752563477], [12.323548316955566, 0.13922199606895447, -3.3914880752563477], [12.323548316955566, 0.13922199606895447, -3.1414880752563477], [12.323548316955566, 0.13922199606895447, -2.8914880752563477], [12.323548316955566, 0.13922199606895447, -2.6414880752563477], [12.323548316955566, 0.13922199606895447, -2.3914880752563477], [12.323548316955566, 0.18751947581768036, -2.1414880752563477], [12.388253211975098, 0.24655073881149292, -1.9000065326690674], [12.629734992980957, 0.25375106930732727, -1.8353017568588257], [12.871216773986816, 0.2486279457807541, -1.770596981048584], [13.112698554992676, 0.21920958161354065, -1.7058922052383423], [13.354180335998535, 0.22499418258666992, -1.6411874294281006], [13.595662117004395, 0.13922199606895447, -1.5764826536178589], [13.837143898010254, 0.13922199606895447, -1.5117778778076172], [14.087143898010254, 0.13922199606895447, -1.5117778778076172]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 501, "episode_id": "502", "scene_id": "ac26ZMwG7aT", "instruction": "Exit the room and walk through the doorway on the left. Go into the bathroom and wait by the shower. ", "start_position": [12.837200164794922, 0.13922199606895447, -8.838459968566895], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [14.397600173950195, 0.13922199606895447, -1.4663200378417969], "goal_radius": 3.0, "reference_path": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [10.880999565124512, 0.13922199606895447, -5.994470119476318], [12.534600257873535, 0.13922199606895447, -4.112370014190674], [12.4399995803833, 0.2625732421875, -1.4862899780273438], [14.397600173950195, 0.13922199606895447, -1.4663200378417969]]", "geodesic_distance": 9.550196647644043, "gt_locations": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [12.620694160461426, 0.13922199606895447, -8.713459968566895], [12.40418815612793, 0.13922199606895447, -8.588459968566895], [12.187682151794434, 0.13922199606895447, -8.463459968566895], [11.971176147460938, 0.13922199606895447, -8.338459968566895], [11.729694366455078, 0.13922199606895447, -8.273755073547363], [11.488212585449219, 0.13922199606895447, -8.209050178527832], [11.271706581115723, 0.13922199606895447, -8.084050178527832], [11.207001686096191, 0.13922199606895447, -7.842568874359131], [11.14229679107666, 0.13922199606895447, -7.60108757019043], [11.077591896057129, 0.13922199606895447, -7.3596062660217285], [11.012887001037598, 0.13922199606895447, -7.118124961853027], [10.948182106018066, 0.13922199606895447, -6.876643657684326], [10.948182106018066, 0.13922199606895447, -6.626643657684326], [10.948182106018066, 0.13922199606895447, -6.376643657684326], [10.948182106018066, 0.13922199606895447, -6.126643657684326], [11.012887001037598, 0.13922199606895447, -5.885162353515625], [11.137887001037598, 0.13922199606895447, -5.668655872344971], [11.314663887023926, 0.13922199606895447, -5.491878986358643], [11.491440773010254, 0.13922199606895447, -5.3151021003723145], [11.668217658996582, 0.13922199606895447, -5.138325214385986], [11.84499454498291, 0.13922199606895447, -4.961548328399658], [12.021771430969238, 0.13922199606895447, -4.78477144241333], [12.198548316955566, 0.13922199606895447, -4.607994556427002], [12.323548316955566, 0.13922199606895447, -4.391488075256348], [12.323548316955566, 0.13922199606895447, -4.141488075256348], [12.323548316955566, 0.13922199606895447, -3.8914880752563477], [12.323548316955566, 0.13922199606895447, -3.6414880752563477], [12.323548316955566, 0.13922199606895447, -3.3914880752563477], [12.323548316955566, 0.13922199606895447, -3.1414880752563477], [12.323548316955566, 0.13922199606895447, -2.8914880752563477], [12.323548316955566, 0.13922199606895447, -2.6414880752563477], [12.323548316955566, 0.13922199606895447, -2.3914880752563477], [12.323548316955566, 0.18751947581768036, -2.1414880752563477], [12.388253211975098, 0.24655073881149292, -1.9000065326690674], [12.629734992980957, 0.25375106930732727, -1.8353017568588257], [12.871216773986816, 0.2486279457807541, -1.770596981048584], [13.112698554992676, 0.21920958161354065, -1.7058922052383423], [13.354180335998535, 0.22499418258666992, -1.6411874294281006], [13.595662117004395, 0.13922199606895447, -1.5764826536178589], [13.837143898010254, 0.13922199606895447, -1.5117778778076172], [14.087143898010254, 0.13922199606895447, -1.5117778778076172]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 2, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 502, "episode_id": "503", "scene_id": "kEZ7cmS4wCh", "instruction": "walk into the house with the pool on your left.  stop at the black strip of tile on the floor. 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{"id": 503, "episode_id": "504", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk along stone path towards house.  Enter through large glass doors.  Walk to long black dining. table.  Wait here. 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{"id": 504, "episode_id": "505", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk into the house through the middle door, into the living and dining room. Stop once you enter the house. 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{"id": 505, "episode_id": "506", "scene_id": "VLzqgDo317F", "instruction": "Walk toward the mirror and through the doorway on the right. Walk across the room and stop in the doorway. 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{"id": 506, "episode_id": "507", "scene_id": "VLzqgDo317F", "instruction": "Go to the mirror. Follow the red carpet straight to the clock. Go through the doorway on the right side of the clock and stop. 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{"id": 507, "episode_id": "508", "scene_id": "VLzqgDo317F", "instruction": "Turn right to enter the brown door. Enter inside, and walk forward all the way towards another door that is in front of you. Stop between the two doors. 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{"id": 508, "episode_id": "509", "scene_id": "5q7pvUzZiYa", "instruction": "Turn around and turn right by the bedroom. Go in the door immediately and go down the hall. Stop. ", "start_position": [15.51509952545166, 0.20342540740966797, 0.6587600111961365], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [15.290300369262695, 0.05602216348052025, -2.6399500370025635], "goal_radius": 3.0, "reference_path": "[[15.51509952545166, 0.20342540740966797, 0.6587600111961365], [16.377899169921875, 0.20342540740966797, 0.20736299455165863], [17.539499282836914, 0.2034253031015396, -0.5589770078659058], [16.443199157714844, 0.003425121307373047, -2.8714499473571777], [15.290300369262695, 0.05602216348052025, -2.6399500370025635]]", "geodesic_distance": 4.971338272094727, "gt_locations": "[[15.51509952545166, 0.20342540740966797, 0.6587600111961365], [15.731605529785156, 0.20342540740966797, 0.5337600111961365], [15.948111534118652, 0.20342540740966797, 0.4087600111961365], [16.16461753845215, 0.20342540740966797, 0.2837600111961365], [16.341394424438477, 0.20342540740966797, 0.10698330402374268], [16.55790138244629, 0.20342540740966797, -0.018016725778579712], [16.7744083404541, 0.20342540740966797, -0.1430167555809021], [16.990915298461914, 0.20342540740966797, -0.2680167853832245], [17.207422256469727, 0.20342537760734558, -0.3930168151855469], [17.142717361450195, 0.20342537760734558, -0.6344982385635376], [17.078012466430664, 0.20342537760734558, -0.8759796619415283], [17.013307571411133, 0.20342539250850677, -1.117461085319519], [16.9486026763916, 0.18778328597545624, -1.3589425086975098], [16.88389778137207, 0.14553788304328918, -1.6004239320755005], [16.81919288635254, 0.10329246520996094, -1.8419053554534912], [16.754487991333008, 0.061047062277793884, -2.0833868980407715], [16.689783096313477, 0.01880163699388504, -2.3248684406280518], [16.564783096313477, 0.003425121307373047, -2.541374683380127], [16.323301315307617, 0.003425121307373047, -2.606079339981079], [16.073301315307617, 0.003425121307373047, -2.606079339981079], [15.823301315307617, 0.003425121307373047, -2.606079339981079], [15.573301315307617, 0.003425121307373047, -2.606079339981079]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 0]"}
{"id": 509, "episode_id": "510", "scene_id": "5q7pvUzZiYa", "instruction": "Exit the bathroom. Turn left and exit the room using the door on the left. Wait there. ", "start_position": [15.51509952545166, 0.20342540740966797, 0.6587600111961365], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [15.290300369262695, 0.05602216348052025, -2.6399500370025635], "goal_radius": 3.0, "reference_path": "[[15.51509952545166, 0.20342540740966797, 0.6587600111961365], [16.377899169921875, 0.20342540740966797, 0.20736299455165863], [17.539499282836914, 0.2034253031015396, -0.5589770078659058], [16.443199157714844, 0.003425121307373047, -2.8714499473571777], [15.290300369262695, 0.05602216348052025, -2.6399500370025635]]", "geodesic_distance": 4.971338272094727, "gt_locations": "[[15.51509952545166, 0.20342540740966797, 0.6587600111961365], [15.731605529785156, 0.20342540740966797, 0.5337600111961365], [15.948111534118652, 0.20342540740966797, 0.4087600111961365], [16.16461753845215, 0.20342540740966797, 0.2837600111961365], [16.341394424438477, 0.20342540740966797, 0.10698330402374268], [16.55790138244629, 0.20342540740966797, -0.018016725778579712], [16.7744083404541, 0.20342540740966797, -0.1430167555809021], [16.990915298461914, 0.20342540740966797, -0.2680167853832245], [17.207422256469727, 0.20342537760734558, -0.3930168151855469], [17.142717361450195, 0.20342537760734558, -0.6344982385635376], [17.078012466430664, 0.20342537760734558, -0.8759796619415283], [17.013307571411133, 0.20342539250850677, -1.117461085319519], [16.9486026763916, 0.18778328597545624, -1.3589425086975098], [16.88389778137207, 0.14553788304328918, -1.6004239320755005], [16.81919288635254, 0.10329246520996094, -1.8419053554534912], [16.754487991333008, 0.061047062277793884, -2.0833868980407715], [16.689783096313477, 0.01880163699388504, -2.3248684406280518], [16.564783096313477, 0.003425121307373047, -2.541374683380127], [16.323301315307617, 0.003425121307373047, -2.606079339981079], [16.073301315307617, 0.003425121307373047, -2.606079339981079], [15.823301315307617, 0.003425121307373047, -2.606079339981079], [15.573301315307617, 0.003425121307373047, -2.606079339981079]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 0]"}
{"id": 510, "episode_id": "511", "scene_id": "5q7pvUzZiYa", "instruction": "Turn around and walk into the bedroom. Walk out of the bedroom into the hallway. Stop just outside the bedroom. ", "start_position": [15.51509952545166, 0.20342540740966797, 0.6587600111961365], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [15.290300369262695, 0.05602216348052025, -2.6399500370025635], "goal_radius": 3.0, "reference_path": "[[15.51509952545166, 0.20342540740966797, 0.6587600111961365], [16.377899169921875, 0.20342540740966797, 0.20736299455165863], [17.539499282836914, 0.2034253031015396, -0.5589770078659058], [16.443199157714844, 0.003425121307373047, -2.8714499473571777], [15.290300369262695, 0.05602216348052025, -2.6399500370025635]]", "geodesic_distance": 4.971338272094727, "gt_locations": "[[15.51509952545166, 0.20342540740966797, 0.6587600111961365], [15.731605529785156, 0.20342540740966797, 0.5337600111961365], [15.948111534118652, 0.20342540740966797, 0.4087600111961365], [16.16461753845215, 0.20342540740966797, 0.2837600111961365], [16.341394424438477, 0.20342540740966797, 0.10698330402374268], [16.55790138244629, 0.20342540740966797, -0.018016725778579712], [16.7744083404541, 0.20342540740966797, -0.1430167555809021], [16.990915298461914, 0.20342540740966797, -0.2680167853832245], [17.207422256469727, 0.20342537760734558, -0.3930168151855469], [17.142717361450195, 0.20342537760734558, -0.6344982385635376], [17.078012466430664, 0.20342537760734558, -0.8759796619415283], [17.013307571411133, 0.20342539250850677, -1.117461085319519], [16.9486026763916, 0.18778328597545624, -1.3589425086975098], [16.88389778137207, 0.14553788304328918, -1.6004239320755005], [16.81919288635254, 0.10329246520996094, -1.8419053554534912], [16.754487991333008, 0.061047062277793884, -2.0833868980407715], [16.689783096313477, 0.01880163699388504, -2.3248684406280518], [16.564783096313477, 0.003425121307373047, -2.541374683380127], [16.323301315307617, 0.003425121307373047, -2.606079339981079], [16.073301315307617, 0.003425121307373047, -2.606079339981079], [15.823301315307617, 0.003425121307373047, -2.606079339981079], [15.573301315307617, 0.003425121307373047, -2.606079339981079]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 0]"}
{"id": 511, "episode_id": "512", "scene_id": "D7N2EKCX4Sj", "instruction": "Exit the hotel room and wait in the hall. ", "start_position": [-7.745910167694092, 0.20792198181152344, 3.5765700340270996], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-2.7039599418640137, 0.10193780064582825, 3.87746000289917], "goal_radius": 3.0, "reference_path": "[[-7.745910167694092, 0.20792198181152344, 3.5765700340270996], [-6.597209930419922, 0.20792198181152344, 3.6718099117279053], [-4.861839771270752, 0.14604982733726501, 3.5545198917388916], [-3.325930118560791, 0.04510597512125969, 3.912519931793213], [-3.0077009201049805, 0.007922172546386719, 3.8226523399353027], [-2.7039599418640137, 0.10193780064582825, 3.87746000289917]]", "geodesic_distance": 5.2259345054626465, "gt_locations": "[[-7.745910167694092, 0.20792198181152344, 3.5765700340270996], [-7.495910167694092, 0.20792198181152344, 3.5765700340270996], [-7.245910167694092, 0.20792198181152344, 3.5765700340270996], [-6.995910167694092, 0.20792198181152344, 3.5765700340270996], [-6.745910167694092, 0.20792198181152344, 3.5765700340270996], [-6.495910167694092, 0.20792198181152344, 3.5765700340270996], [-6.245910167694092, 0.20792198181152344, 3.5765700340270996], [-5.995910167694092, 0.20792198181152344, 3.5765700340270996], [-5.745910167694092, 0.20792198181152344, 3.5765700340270996], [-5.495910167694092, 0.2010088562965393, 3.5765700340270996], [-5.245910167694092, 0.1773122102022171, 3.5765700340270996], [-4.995910167694092, 0.1536155641078949, 3.5765700340270996], [-4.754428863525391, 0.16248875856399536, 3.641274929046631], [-4.504428863525391, 0.16508622467517853, 3.641274929046631], [-4.2629475593566895, 0.17247025668621063, 3.705979585647583], [-4.021466255187988, 0.16917967796325684, 3.770684242248535], [-3.779984712600708, 0.14833787083625793, 3.8353888988494873], [-3.529984712600708, 0.09336327761411667, 3.8353888988494873], [-3.279984712600708, 0.023187853395938873, 3.8353888988494873], [-3.0385031700134277, 0.007922172546386719, 3.770684242248535], [-2.7970216274261475, 0.1051286980509758, 3.705979585647583]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 512, "episode_id": "513", "scene_id": "D7N2EKCX4Sj", "instruction": "walk out of the bedroom and stop outside the doorway. ", "start_position": [-7.745910167694092, 0.20792198181152344, 3.5765700340270996], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-2.7039599418640137, 0.10193780064582825, 3.87746000289917], "goal_radius": 3.0, "reference_path": "[[-7.745910167694092, 0.20792198181152344, 3.5765700340270996], [-6.597209930419922, 0.20792198181152344, 3.6718099117279053], [-4.861839771270752, 0.14604982733726501, 3.5545198917388916], [-3.325930118560791, 0.04510597512125969, 3.912519931793213], [-3.0077009201049805, 0.007922172546386719, 3.8226523399353027], [-2.7039599418640137, 0.10193780064582825, 3.87746000289917]]", "geodesic_distance": 5.2259345054626465, "gt_locations": "[[-7.745910167694092, 0.20792198181152344, 3.5765700340270996], [-7.495910167694092, 0.20792198181152344, 3.5765700340270996], [-7.245910167694092, 0.20792198181152344, 3.5765700340270996], [-6.995910167694092, 0.20792198181152344, 3.5765700340270996], [-6.745910167694092, 0.20792198181152344, 3.5765700340270996], [-6.495910167694092, 0.20792198181152344, 3.5765700340270996], [-6.245910167694092, 0.20792198181152344, 3.5765700340270996], [-5.995910167694092, 0.20792198181152344, 3.5765700340270996], [-5.745910167694092, 0.20792198181152344, 3.5765700340270996], [-5.495910167694092, 0.2010088562965393, 3.5765700340270996], [-5.245910167694092, 0.1773122102022171, 3.5765700340270996], [-4.995910167694092, 0.1536155641078949, 3.5765700340270996], [-4.754428863525391, 0.16248875856399536, 3.641274929046631], [-4.504428863525391, 0.16508622467517853, 3.641274929046631], [-4.2629475593566895, 0.17247025668621063, 3.705979585647583], [-4.021466255187988, 0.16917967796325684, 3.770684242248535], [-3.779984712600708, 0.14833787083625793, 3.8353888988494873], [-3.529984712600708, 0.09336327761411667, 3.8353888988494873], [-3.279984712600708, 0.023187853395938873, 3.8353888988494873], [-3.0385031700134277, 0.007922172546386719, 3.770684242248535], [-2.7970216274261475, 0.1051286980509758, 3.705979585647583]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 513, "episode_id": "514", "scene_id": "D7N2EKCX4Sj", "instruction": "walk forward and stop after exiting the room. ", "start_position": [-7.745910167694092, 0.20792198181152344, 3.5765700340270996], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-2.7039599418640137, 0.10193780064582825, 3.87746000289917], "goal_radius": 3.0, "reference_path": "[[-7.745910167694092, 0.20792198181152344, 3.5765700340270996], [-6.597209930419922, 0.20792198181152344, 3.6718099117279053], [-4.861839771270752, 0.14604982733726501, 3.5545198917388916], [-3.325930118560791, 0.04510597512125969, 3.912519931793213], [-3.0077009201049805, 0.007922172546386719, 3.8226523399353027], [-2.7039599418640137, 0.10193780064582825, 3.87746000289917]]", "geodesic_distance": 5.2259345054626465, "gt_locations": "[[-7.745910167694092, 0.20792198181152344, 3.5765700340270996], [-7.495910167694092, 0.20792198181152344, 3.5765700340270996], [-7.245910167694092, 0.20792198181152344, 3.5765700340270996], [-6.995910167694092, 0.20792198181152344, 3.5765700340270996], [-6.745910167694092, 0.20792198181152344, 3.5765700340270996], [-6.495910167694092, 0.20792198181152344, 3.5765700340270996], [-6.245910167694092, 0.20792198181152344, 3.5765700340270996], [-5.995910167694092, 0.20792198181152344, 3.5765700340270996], [-5.745910167694092, 0.20792198181152344, 3.5765700340270996], [-5.495910167694092, 0.2010088562965393, 3.5765700340270996], [-5.245910167694092, 0.1773122102022171, 3.5765700340270996], [-4.995910167694092, 0.1536155641078949, 3.5765700340270996], [-4.754428863525391, 0.16248875856399536, 3.641274929046631], [-4.504428863525391, 0.16508622467517853, 3.641274929046631], [-4.2629475593566895, 0.17247025668621063, 3.705979585647583], [-4.021466255187988, 0.16917967796325684, 3.770684242248535], [-3.779984712600708, 0.14833787083625793, 3.8353888988494873], [-3.529984712600708, 0.09336327761411667, 3.8353888988494873], [-3.279984712600708, 0.023187853395938873, 3.8353888988494873], [-3.0385031700134277, 0.007922172546386719, 3.770684242248535], [-2.7970216274261475, 0.1051286980509758, 3.705979585647583]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 514, "episode_id": "515", "scene_id": "5LpN3gDmAk7", "instruction": "Go straight. Go out side to the balcony using the large glass sliding doors and wait there. ", "start_position": [8.045570373535156, 3.315650224685669, -2.0796101093292236], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [10.01449966430664, 3.115649938583374, 3.0582499504089355], "goal_radius": 3.0, "reference_path": "[[8.045570373535156, 3.315650224685669, -2.0796101093292236], [8.240240097045898, 3.315650224685669, -1.4868600368499756], [8.326120376586914, 3.315650224685669, -0.7848899960517883], [9.36532974243164, 3.115649938583374, 1.8813899755477905], [9.832759857177734, 3.115649938583374, 2.4778199195861816], [10.01449966430664, 3.115649938583374, 3.0582499504089355]]", "geodesic_distance": 6.015948295593262, "gt_locations": "[[8.045570373535156, 3.315650224685669, -2.0796101093292236], [8.110275268554688, 3.315650224685669, -1.8381285667419434], [8.174980163574219, 3.315650224685669, -1.596647024154663], [8.23968505859375, 3.315650224685669, -1.3551654815673828], [8.304389953613281, 3.315650224685669, -1.1136839389801025], [8.23968505859375, 3.315650224685669, -0.872202455997467], [8.174980163574219, 3.315650224685669, -0.6307209730148315], [8.110275268554688, 3.2753474712371826, -0.38923949003219604], [8.045570373535156, 3.1894445419311523, -0.14775800704956055], [7.920570373535156, 3.1767497062683105, 0.06874838471412659], [7.795570373535156, 3.138094425201416, 0.2852547764778137], [7.823129177093506, 3.115649938583374, 0.5490239858627319], [7.948129177093506, 3.115649938583374, 0.7655303478240967], [8.073129653930664, 3.115649938583374, 0.9820367097854614], [8.28963565826416, 3.115649938583374, 1.1070367097854614], [8.506141662597656, 3.115649938583374, 1.2320367097854614], [8.722647666931152, 3.115649938583374, 1.3570367097854614], [8.939153671264648, 3.115649938583374, 1.4820367097854614], [9.115930557250977, 3.115649938583374, 1.6588134765625], [9.292707443237305, 3.115649938583374, 1.8355902433395386], [9.469484329223633, 3.115649938583374, 2.012367010116577], [9.646261215209961, 3.115649938583374, 2.189143657684326], [9.771261215209961, 3.115649938583374, 2.4056499004364014], [9.835966110229492, 3.115649938583374, 2.6471314430236816]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 515, "episode_id": "516", "scene_id": "5LpN3gDmAk7", "instruction": "Exit bathroom through door.  Walk to chair on balcony.  Wait here. ", "start_position": [8.045570373535156, 3.315650224685669, -2.0796101093292236], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [10.01449966430664, 3.115649938583374, 3.0582499504089355], "goal_radius": 3.0, "reference_path": "[[8.045570373535156, 3.315650224685669, -2.0796101093292236], [8.240240097045898, 3.315650224685669, -1.4868600368499756], [8.326120376586914, 3.315650224685669, -0.7848899960517883], [9.36532974243164, 3.115649938583374, 1.8813899755477905], [9.832759857177734, 3.115649938583374, 2.4778199195861816], [10.01449966430664, 3.115649938583374, 3.0582499504089355]]", "geodesic_distance": 6.015948295593262, "gt_locations": "[[8.045570373535156, 3.315650224685669, -2.0796101093292236], [8.110275268554688, 3.315650224685669, -1.8381285667419434], [8.174980163574219, 3.315650224685669, -1.596647024154663], [8.23968505859375, 3.315650224685669, -1.3551654815673828], [8.304389953613281, 3.315650224685669, -1.1136839389801025], [8.23968505859375, 3.315650224685669, -0.872202455997467], [8.174980163574219, 3.315650224685669, -0.6307209730148315], [8.110275268554688, 3.2753474712371826, -0.38923949003219604], [8.045570373535156, 3.1894445419311523, -0.14775800704956055], [7.920570373535156, 3.1767497062683105, 0.06874838471412659], [7.795570373535156, 3.138094425201416, 0.2852547764778137], [7.823129177093506, 3.115649938583374, 0.5490239858627319], [7.948129177093506, 3.115649938583374, 0.7655303478240967], [8.073129653930664, 3.115649938583374, 0.9820367097854614], [8.28963565826416, 3.115649938583374, 1.1070367097854614], [8.506141662597656, 3.115649938583374, 1.2320367097854614], [8.722647666931152, 3.115649938583374, 1.3570367097854614], [8.939153671264648, 3.115649938583374, 1.4820367097854614], [9.115930557250977, 3.115649938583374, 1.6588134765625], [9.292707443237305, 3.115649938583374, 1.8355902433395386], [9.469484329223633, 3.115649938583374, 2.012367010116577], [9.646261215209961, 3.115649938583374, 2.189143657684326], [9.771261215209961, 3.115649938583374, 2.4056499004364014], [9.835966110229492, 3.115649938583374, 2.6471314430236816]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 516, "episode_id": "517", "scene_id": "5LpN3gDmAk7", "instruction": "Exit the bathroom and walk onto the deck. ", "start_position": [8.045570373535156, 3.315650224685669, -2.0796101093292236], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [10.01449966430664, 3.115649938583374, 3.0582499504089355], "goal_radius": 3.0, "reference_path": "[[8.045570373535156, 3.315650224685669, -2.0796101093292236], [8.240240097045898, 3.315650224685669, -1.4868600368499756], [8.326120376586914, 3.315650224685669, -0.7848899960517883], [9.36532974243164, 3.115649938583374, 1.8813899755477905], [9.832759857177734, 3.115649938583374, 2.4778199195861816], [10.01449966430664, 3.115649938583374, 3.0582499504089355]]", "geodesic_distance": 6.015948295593262, "gt_locations": "[[8.045570373535156, 3.315650224685669, -2.0796101093292236], [8.110275268554688, 3.315650224685669, -1.8381285667419434], [8.174980163574219, 3.315650224685669, -1.596647024154663], [8.23968505859375, 3.315650224685669, -1.3551654815673828], [8.304389953613281, 3.315650224685669, -1.1136839389801025], [8.23968505859375, 3.315650224685669, -0.872202455997467], [8.174980163574219, 3.315650224685669, -0.6307209730148315], [8.110275268554688, 3.2753474712371826, -0.38923949003219604], [8.045570373535156, 3.1894445419311523, -0.14775800704956055], [7.920570373535156, 3.1767497062683105, 0.06874838471412659], [7.795570373535156, 3.138094425201416, 0.2852547764778137], [7.823129177093506, 3.115649938583374, 0.5490239858627319], [7.948129177093506, 3.115649938583374, 0.7655303478240967], [8.073129653930664, 3.115649938583374, 0.9820367097854614], [8.28963565826416, 3.115649938583374, 1.1070367097854614], [8.506141662597656, 3.115649938583374, 1.2320367097854614], [8.722647666931152, 3.115649938583374, 1.3570367097854614], [8.939153671264648, 3.115649938583374, 1.4820367097854614], [9.115930557250977, 3.115649938583374, 1.6588134765625], [9.292707443237305, 3.115649938583374, 1.8355902433395386], [9.469484329223633, 3.115649938583374, 2.012367010116577], [9.646261215209961, 3.115649938583374, 2.189143657684326], [9.771261215209961, 3.115649938583374, 2.4056499004364014], [9.835966110229492, 3.115649938583374, 2.6471314430236816]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 517, "episode_id": "518", "scene_id": "sKLMLpTHeUy", "instruction": "Turn to the right and walk towards the door passing by the cheetah painting. ", "start_position": [12.547200202941895, -2.8503408432006836, 0.42792999744415283], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.772160053253174, -2.7503950595855713, -1.4556000232696533], "goal_radius": 3.0, "reference_path": "[[12.547200202941895, -2.8503408432006836, 0.42792999744415283], [11.401300430297852, -2.8044121265411377, 0.03629760071635246], [9.85116958618164, -2.8503408432006836, -0.23630599677562714], [8.451849937438965, -2.8503408432006836, -1.0744199752807617], [6.772160053253174, -2.7503950595855713, -1.4556000232696533]]", "geodesic_distance": 6.135141372680664, "gt_locations": "[[12.547200202941895, -2.8503408432006836, 0.42792999744415283], [12.305718421936035, -2.8410873413085938, 0.3632252812385559], [12.064236640930176, -2.797189474105835, 0.298520565032959], [11.822754859924316, -2.7941601276397705, 0.23381583392620087], [11.581273078918457, -2.7948782444000244, 0.16911110281944275], [11.339791297912598, -2.795596122741699, 0.10440637171268463], [11.098309516906738, -2.796314239501953, 0.039701640605926514], [10.856827735900879, -2.797032117843628, -0.025003090500831604], [10.61534595489502, -2.7977499961853027, -0.08970782160758972], [10.37386417388916, -2.7984681129455566, -0.15441255271434784], [10.1323823928833, -2.7991859912872314, -0.21911728382110596], [9.890900611877441, -2.8503408432006836, -0.2838220000267029], [9.649418830871582, -2.8503408432006836, -0.3485267162322998], [9.432912826538086, -2.8503408432006836, -0.4735266864299774], [9.21640682220459, -2.8503408432006836, -0.598526656627655], [8.97492504119873, -2.8503408432006836, -0.663231372833252], [8.733443260192871, -2.8503408432006836, -0.7279360890388489], [8.556666374206543, -2.8503408432006836, -0.9047127962112427], [8.379889488220215, -2.8503408432006836, -1.0814895629882812], [8.163383483886719, -2.8503408432006836, -1.2064895629882812], [7.922372817993164, -2.8503408432006836, -1.2735484838485718], [7.680891513824463, -2.8503408432006836, -1.3382532596588135], [7.439410209655762, -2.8342666625976562, -1.4029580354690552], [7.189410209655762, -2.8036816120147705, -1.4029580354690552]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 3, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 0]"}
{"id": 518, "episode_id": "519", "scene_id": "sKLMLpTHeUy", "instruction": "Walk through the office and out into the hallway. Wait in the living room near the sofa. ", "start_position": [12.547200202941895, -2.8503408432006836, 0.42792999744415283], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.772160053253174, -2.7503950595855713, -1.4556000232696533], "goal_radius": 3.0, "reference_path": "[[12.547200202941895, -2.8503408432006836, 0.42792999744415283], [11.401300430297852, -2.8044121265411377, 0.03629760071635246], [9.85116958618164, -2.8503408432006836, -0.23630599677562714], [8.451849937438965, -2.8503408432006836, -1.0744199752807617], [6.772160053253174, -2.7503950595855713, -1.4556000232696533]]", "geodesic_distance": 6.135141372680664, "gt_locations": "[[12.547200202941895, -2.8503408432006836, 0.42792999744415283], [12.305718421936035, -2.8410873413085938, 0.3632252812385559], [12.064236640930176, -2.797189474105835, 0.298520565032959], [11.822754859924316, -2.7941601276397705, 0.23381583392620087], [11.581273078918457, -2.7948782444000244, 0.16911110281944275], [11.339791297912598, -2.795596122741699, 0.10440637171268463], [11.098309516906738, -2.796314239501953, 0.039701640605926514], [10.856827735900879, -2.797032117843628, -0.025003090500831604], [10.61534595489502, -2.7977499961853027, -0.08970782160758972], [10.37386417388916, -2.7984681129455566, -0.15441255271434784], [10.1323823928833, -2.7991859912872314, -0.21911728382110596], [9.890900611877441, -2.8503408432006836, -0.2838220000267029], [9.649418830871582, -2.8503408432006836, -0.3485267162322998], [9.432912826538086, -2.8503408432006836, -0.4735266864299774], [9.21640682220459, -2.8503408432006836, -0.598526656627655], [8.97492504119873, -2.8503408432006836, -0.663231372833252], [8.733443260192871, -2.8503408432006836, -0.7279360890388489], [8.556666374206543, -2.8503408432006836, -0.9047127962112427], [8.379889488220215, -2.8503408432006836, -1.0814895629882812], [8.163383483886719, -2.8503408432006836, -1.2064895629882812], [7.922372817993164, -2.8503408432006836, -1.2735484838485718], [7.680891513824463, -2.8503408432006836, -1.3382532596588135], [7.439410209655762, -2.8342666625976562, -1.4029580354690552], [7.189410209655762, -2.8036816120147705, -1.4029580354690552]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 3, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 0]"}
{"id": 519, "episode_id": "520", "scene_id": "sKLMLpTHeUy", "instruction": "Leave the office and go left in the hallway. Stop before you reach the rug. ", "start_position": [12.547200202941895, -2.8503408432006836, 0.42792999744415283], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [6.772160053253174, -2.7503950595855713, -1.4556000232696533], "goal_radius": 3.0, "reference_path": "[[12.547200202941895, -2.8503408432006836, 0.42792999744415283], [11.401300430297852, -2.8044121265411377, 0.03629760071635246], [9.85116958618164, -2.8503408432006836, -0.23630599677562714], [8.451849937438965, -2.8503408432006836, -1.0744199752807617], [6.772160053253174, -2.7503950595855713, -1.4556000232696533]]", "geodesic_distance": 6.135141372680664, "gt_locations": "[[12.547200202941895, -2.8503408432006836, 0.42792999744415283], [12.305718421936035, -2.8410873413085938, 0.3632252812385559], [12.064236640930176, -2.797189474105835, 0.298520565032959], [11.822754859924316, -2.7941601276397705, 0.23381583392620087], [11.581273078918457, -2.7948782444000244, 0.16911110281944275], [11.339791297912598, -2.795596122741699, 0.10440637171268463], [11.098309516906738, -2.796314239501953, 0.039701640605926514], [10.856827735900879, -2.797032117843628, -0.025003090500831604], [10.61534595489502, -2.7977499961853027, -0.08970782160758972], [10.37386417388916, -2.7984681129455566, -0.15441255271434784], [10.1323823928833, -2.7991859912872314, -0.21911728382110596], [9.890900611877441, -2.8503408432006836, -0.2838220000267029], [9.649418830871582, -2.8503408432006836, -0.3485267162322998], [9.432912826538086, -2.8503408432006836, -0.4735266864299774], [9.21640682220459, -2.8503408432006836, -0.598526656627655], [8.97492504119873, -2.8503408432006836, -0.663231372833252], [8.733443260192871, -2.8503408432006836, -0.7279360890388489], [8.556666374206543, -2.8503408432006836, -0.9047127962112427], [8.379889488220215, -2.8503408432006836, -1.0814895629882812], [8.163383483886719, -2.8503408432006836, -1.2064895629882812], [7.922372817993164, -2.8503408432006836, -1.2735484838485718], [7.680891513824463, -2.8503408432006836, -1.3382532596588135], [7.439410209655762, -2.8342666625976562, -1.4029580354690552], [7.189410209655762, -2.8036816120147705, -1.4029580354690552]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 3, 3, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 0]"}
{"id": 520, "episode_id": "521", "scene_id": "sT4fr6TAbpF", "instruction": "Turn around and go to the right of the room divider, keep going all the way down past the chair on the right, and into the hallway on the right and stop. ", "start_position": [6.591710090637207, 0.05631500482559204, -5.04541015625], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.468259811401367, 0.05631500482559204, -11.896100044250488], "goal_radius": 3.0, "reference_path": "[[6.591710090637207, 0.05631500482559204, -5.04541015625], [5.537859916687012, 0.05631500482559204, -6.186800003051758], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [8.468259811401367, 0.05631500482559204, -11.896100044250488]]", "geodesic_distance": 9.451011657714844, "gt_locations": "[[6.591710090637207, 0.05631500482559204, -5.04541015625], [6.414933204650879, 0.05631500482559204, -5.222187042236328], [6.238156318664551, 0.05631500482559204, -5.398963928222656], [6.061379432678223, 0.05631500482559204, -5.575740814208984], [5.8846025466918945, 0.05631500482559204, -5.7525177001953125], [5.707825660705566, 0.05631500482559204, -5.929294586181641], [5.643120765686035, 0.05631500482559204, -6.170775890350342], [5.578415870666504, 0.05631500482559204, -6.412257194519043], [5.513710975646973, 0.05631500482559204, -6.653738498687744], [5.449006080627441, 0.05631500482559204, -6.895219802856445], [5.38430118560791, 0.05631500482559204, -7.1367011070251465], [5.25930118560791, 0.05631500482559204, -7.353207588195801], [5.13430118560791, 0.05631500482559204, -7.569714069366455], [5.13430118560791, 0.05631500482559204, -7.819714069366455], [5.13430118560791, 0.05631500482559204, -8.069713592529297], [5.13430118560791, 0.05631500482559204, -8.319713592529297], [5.13430118560791, 0.05631500482559204, -8.569713592529297], [5.199006080627441, 0.05631500482559204, -8.811195373535156], [5.263710975646973, 0.05631500482559204, -9.052677154541016], [5.328415870666504, 0.05631500482559204, -9.294158935546875], [5.393120765686035, 0.05631500482559204, -9.535640716552734], [5.457825660705566, 0.05631500482559204, -9.777122497558594], [5.457825660705566, 0.05631500482559204, -10.027122497558594], [5.457825660705566, 0.05631500482559204, -10.277122497558594], [5.522530555725098, 0.05631500482559204, -10.518604278564453], [5.522530555725098, 0.05631500482559204, -10.768604278564453], [5.597286224365234, 0.05631500482559204, -11.010231971740723], [5.722286224365234, 0.05631500482559204, -11.226737976074219], [5.847286224365234, 0.05631500482559204, -11.443243980407715], [5.911991119384766, 0.05631500482559204, -11.684725761413574], [5.976696014404297, 0.05631500482559204, -11.926207542419434], [6.226696014404297, 0.05631500482559204, -11.926207542419434], [6.476696014404297, 0.05631500482559204, -11.926207542419434], [6.726696014404297, 0.05631500482559204, -11.926207542419434], [6.976696014404297, 0.05631500482559204, -11.926207542419434], [7.226696014404297, 0.05631500482559204, -11.926207542419434], [7.476696014404297, 0.05631500482559204, -11.926207542419434], [7.726696014404297, 0.05631500482559204, -11.926207542419434], [7.976696014404297, 0.05631500482559204, -11.926207542419434]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 521, "episode_id": "522", "scene_id": "sT4fr6TAbpF", "instruction": "Walk along the glass wall and turn the corner walking past a wooden framed dividing wall. Continue through the next room past a lounge chair and dining table. Walk by a second long chair against the wall and walk through the open door on the other side of it into a hallway. ", "start_position": [6.591710090637207, 0.05631500482559204, -5.04541015625], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.468259811401367, 0.05631500482559204, -11.896100044250488], "goal_radius": 3.0, "reference_path": "[[6.591710090637207, 0.05631500482559204, -5.04541015625], [5.537859916687012, 0.05631500482559204, -6.186800003051758], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [8.468259811401367, 0.05631500482559204, -11.896100044250488]]", "geodesic_distance": 9.451011657714844, "gt_locations": "[[6.591710090637207, 0.05631500482559204, -5.04541015625], [6.414933204650879, 0.05631500482559204, -5.222187042236328], [6.238156318664551, 0.05631500482559204, -5.398963928222656], [6.061379432678223, 0.05631500482559204, -5.575740814208984], [5.8846025466918945, 0.05631500482559204, -5.7525177001953125], [5.707825660705566, 0.05631500482559204, -5.929294586181641], [5.643120765686035, 0.05631500482559204, -6.170775890350342], [5.578415870666504, 0.05631500482559204, -6.412257194519043], [5.513710975646973, 0.05631500482559204, -6.653738498687744], [5.449006080627441, 0.05631500482559204, -6.895219802856445], [5.38430118560791, 0.05631500482559204, -7.1367011070251465], [5.25930118560791, 0.05631500482559204, -7.353207588195801], [5.13430118560791, 0.05631500482559204, -7.569714069366455], [5.13430118560791, 0.05631500482559204, -7.819714069366455], [5.13430118560791, 0.05631500482559204, -8.069713592529297], [5.13430118560791, 0.05631500482559204, -8.319713592529297], [5.13430118560791, 0.05631500482559204, -8.569713592529297], [5.199006080627441, 0.05631500482559204, -8.811195373535156], [5.263710975646973, 0.05631500482559204, -9.052677154541016], [5.328415870666504, 0.05631500482559204, -9.294158935546875], [5.393120765686035, 0.05631500482559204, -9.535640716552734], [5.457825660705566, 0.05631500482559204, -9.777122497558594], [5.457825660705566, 0.05631500482559204, -10.027122497558594], [5.457825660705566, 0.05631500482559204, -10.277122497558594], [5.522530555725098, 0.05631500482559204, -10.518604278564453], [5.522530555725098, 0.05631500482559204, -10.768604278564453], [5.597286224365234, 0.05631500482559204, -11.010231971740723], [5.722286224365234, 0.05631500482559204, -11.226737976074219], [5.847286224365234, 0.05631500482559204, -11.443243980407715], [5.911991119384766, 0.05631500482559204, -11.684725761413574], [5.976696014404297, 0.05631500482559204, -11.926207542419434], [6.226696014404297, 0.05631500482559204, -11.926207542419434], [6.476696014404297, 0.05631500482559204, -11.926207542419434], [6.726696014404297, 0.05631500482559204, -11.926207542419434], [6.976696014404297, 0.05631500482559204, -11.926207542419434], [7.226696014404297, 0.05631500482559204, -11.926207542419434], [7.476696014404297, 0.05631500482559204, -11.926207542419434], [7.726696014404297, 0.05631500482559204, -11.926207542419434], [7.976696014404297, 0.05631500482559204, -11.926207542419434]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 522, "episode_id": "523", "scene_id": "sT4fr6TAbpF", "instruction": "Turn left and walk past the dining room table.   Walk past a large chair and then turn right.  Enter the hallway and wait near the door. ", "start_position": [6.591710090637207, 0.05631500482559204, -5.04541015625], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.468259811401367, 0.05631500482559204, -11.896100044250488], "goal_radius": 3.0, "reference_path": "[[6.591710090637207, 0.05631500482559204, -5.04541015625], [5.537859916687012, 0.05631500482559204, -6.186800003051758], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [8.468259811401367, 0.05631500482559204, -11.896100044250488]]", "geodesic_distance": 9.451011657714844, "gt_locations": "[[6.591710090637207, 0.05631500482559204, -5.04541015625], [6.414933204650879, 0.05631500482559204, -5.222187042236328], [6.238156318664551, 0.05631500482559204, -5.398963928222656], [6.061379432678223, 0.05631500482559204, -5.575740814208984], [5.8846025466918945, 0.05631500482559204, -5.7525177001953125], [5.707825660705566, 0.05631500482559204, -5.929294586181641], [5.643120765686035, 0.05631500482559204, -6.170775890350342], [5.578415870666504, 0.05631500482559204, -6.412257194519043], [5.513710975646973, 0.05631500482559204, -6.653738498687744], [5.449006080627441, 0.05631500482559204, -6.895219802856445], [5.38430118560791, 0.05631500482559204, -7.1367011070251465], [5.25930118560791, 0.05631500482559204, -7.353207588195801], [5.13430118560791, 0.05631500482559204, -7.569714069366455], [5.13430118560791, 0.05631500482559204, -7.819714069366455], [5.13430118560791, 0.05631500482559204, -8.069713592529297], [5.13430118560791, 0.05631500482559204, -8.319713592529297], [5.13430118560791, 0.05631500482559204, -8.569713592529297], [5.199006080627441, 0.05631500482559204, -8.811195373535156], [5.263710975646973, 0.05631500482559204, -9.052677154541016], [5.328415870666504, 0.05631500482559204, -9.294158935546875], [5.393120765686035, 0.05631500482559204, -9.535640716552734], [5.457825660705566, 0.05631500482559204, -9.777122497558594], [5.457825660705566, 0.05631500482559204, -10.027122497558594], [5.457825660705566, 0.05631500482559204, -10.277122497558594], [5.522530555725098, 0.05631500482559204, -10.518604278564453], [5.522530555725098, 0.05631500482559204, -10.768604278564453], [5.597286224365234, 0.05631500482559204, -11.010231971740723], [5.722286224365234, 0.05631500482559204, -11.226737976074219], [5.847286224365234, 0.05631500482559204, -11.443243980407715], [5.911991119384766, 0.05631500482559204, -11.684725761413574], [5.976696014404297, 0.05631500482559204, -11.926207542419434], [6.226696014404297, 0.05631500482559204, -11.926207542419434], [6.476696014404297, 0.05631500482559204, -11.926207542419434], [6.726696014404297, 0.05631500482559204, -11.926207542419434], [6.976696014404297, 0.05631500482559204, -11.926207542419434], [7.226696014404297, 0.05631500482559204, -11.926207542419434], [7.476696014404297, 0.05631500482559204, -11.926207542419434], [7.726696014404297, 0.05631500482559204, -11.926207542419434], [7.976696014404297, 0.05631500482559204, -11.926207542419434]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 523, "episode_id": "524", "scene_id": "PX4nDJXEHrG", "instruction": "Go into the garage. Turn right and go into the fitness room. From the fitness room, turn right and go into the shower room. ", "start_position": [-12.475899696350098, -2.9704554080963135, -4.433430194854736], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-7.328790187835693, -3.084453821182251, -4.20536994934082], "goal_radius": 3.0, "reference_path": "[[-12.475899696350098, -2.9704554080963135, -4.433430194854736], [-12.56879997253418, -3.0844624042510986, -5.403480052947998], [-9.235910415649414, -3.075477123260498, -6.585000038146973], [-8.327360153198242, -3.084453821182251, -6.771450042724609], [-7.488150119781494, -3.084453821182251, -5.4579901695251465], [-7.328790187835693, -3.084453821182251, -4.20536994934082]]", "geodesic_distance": 7.559744834899902, "gt_locations": "[[-12.475899696350098, -2.9704554080963135, -4.433430194854736], [-12.475899696350098, -2.963700532913208, -4.683430194854736], [-12.540604591369629, -2.953962802886963, -4.9249114990234375], [-12.3638277053833, -3.084453821182251, -5.101688385009766], [-12.147321701049805, -3.084453821182251, -5.226688385009766], [-11.930815696716309, -3.084453821182251, -5.351688385009766], [-11.714309692382812, -3.084453821182251, -5.476688385009766], [-11.497803688049316, -3.084453821182251, -5.601688385009766], [-11.28129768371582, -3.084453821182251, -5.726688385009766], [-11.064791679382324, -3.084453821182251, -5.851688385009766], [-10.848285675048828, -3.084453821182251, -5.976688385009766], [-10.631779670715332, -3.084453821182251, -6.101688385009766], [-10.415273666381836, -3.084453821182251, -6.226688385009766], [-10.173791885375977, -3.084453821182251, -6.291393280029297], [-9.932310104370117, -2.9526724815368652, -6.356098175048828], [-9.690828323364258, -3.0016918182373047, -6.420803070068359], [-9.449346542358398, -3.0596046447753906, -6.485507965087891], [-9.207864761352539, -3.084453821182251, -6.550212860107422], [-8.96638298034668, -3.084453821182251, -6.614917755126953], [-8.72490119934082, -3.084453821182251, -6.679622650146484], [-8.508395195007324, -3.084453821182251, -6.554622650146484], [-8.291889190673828, -3.084453821182251, -6.429622650146484], [-8.065983772277832, -3.084453821182251, -6.318721771240234], [-7.940983772277832, -3.084453821182251, -6.10221529006958], [-7.815983772277832, -3.084453821182251, -5.885708808898926], [-7.690983772277832, -3.084453821182251, -5.6692023277282715], [-7.626278877258301, -3.084453821182251, -5.42772102355957], [-7.5615739822387695, -3.084453821182251, -5.186239719390869], [-7.5615739822387695, -3.084453821182251, -4.936239719390869], [-7.496869087219238, -3.084453821182251, -4.694758415222168], [-7.432164192199707, -3.084453821182251, -4.453277111053467]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 524, "episode_id": "525", "scene_id": "PX4nDJXEHrG", "instruction": "Go straight into the garage. Turn right and go into the room. Turn right and go into the bathroom. Wait near the sink. ", "start_position": [-12.475899696350098, -2.9704554080963135, -4.433430194854736], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-7.328790187835693, -3.084453821182251, -4.20536994934082], "goal_radius": 3.0, "reference_path": "[[-12.475899696350098, -2.9704554080963135, -4.433430194854736], [-12.56879997253418, -3.0844624042510986, -5.403480052947998], [-9.235910415649414, -3.075477123260498, -6.585000038146973], [-8.327360153198242, -3.084453821182251, -6.771450042724609], [-7.488150119781494, -3.084453821182251, -5.4579901695251465], [-7.328790187835693, -3.084453821182251, -4.20536994934082]]", "geodesic_distance": 7.559744834899902, "gt_locations": "[[-12.475899696350098, -2.9704554080963135, -4.433430194854736], [-12.475899696350098, -2.963700532913208, -4.683430194854736], [-12.540604591369629, -2.953962802886963, -4.9249114990234375], [-12.3638277053833, -3.084453821182251, -5.101688385009766], [-12.147321701049805, -3.084453821182251, -5.226688385009766], [-11.930815696716309, -3.084453821182251, -5.351688385009766], [-11.714309692382812, -3.084453821182251, -5.476688385009766], [-11.497803688049316, -3.084453821182251, -5.601688385009766], [-11.28129768371582, -3.084453821182251, -5.726688385009766], [-11.064791679382324, -3.084453821182251, -5.851688385009766], [-10.848285675048828, -3.084453821182251, -5.976688385009766], [-10.631779670715332, -3.084453821182251, -6.101688385009766], [-10.415273666381836, -3.084453821182251, -6.226688385009766], [-10.173791885375977, -3.084453821182251, -6.291393280029297], [-9.932310104370117, -2.9526724815368652, -6.356098175048828], [-9.690828323364258, -3.0016918182373047, -6.420803070068359], [-9.449346542358398, -3.0596046447753906, -6.485507965087891], [-9.207864761352539, -3.084453821182251, -6.550212860107422], [-8.96638298034668, -3.084453821182251, -6.614917755126953], [-8.72490119934082, -3.084453821182251, -6.679622650146484], [-8.508395195007324, -3.084453821182251, -6.554622650146484], [-8.291889190673828, -3.084453821182251, -6.429622650146484], [-8.065983772277832, -3.084453821182251, -6.318721771240234], [-7.940983772277832, -3.084453821182251, -6.10221529006958], [-7.815983772277832, -3.084453821182251, -5.885708808898926], [-7.690983772277832, -3.084453821182251, -5.6692023277282715], [-7.626278877258301, -3.084453821182251, -5.42772102355957], [-7.5615739822387695, -3.084453821182251, -5.186239719390869], [-7.5615739822387695, -3.084453821182251, -4.936239719390869], [-7.496869087219238, -3.084453821182251, -4.694758415222168], [-7.432164192199707, -3.084453821182251, -4.453277111053467]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 525, "episode_id": "526", "scene_id": "PX4nDJXEHrG", "instruction": "Walk into the garage and enter the fitness room on the right. Go into the bathroom through the first door on the right. Stop in front of the toilet. ", "start_position": [-12.475899696350098, -2.9704554080963135, -4.433430194854736], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-7.328790187835693, -3.084453821182251, -4.20536994934082], "goal_radius": 3.0, "reference_path": "[[-12.475899696350098, -2.9704554080963135, -4.433430194854736], [-12.56879997253418, -3.0844624042510986, -5.403480052947998], [-9.235910415649414, -3.075477123260498, -6.585000038146973], [-8.327360153198242, -3.084453821182251, -6.771450042724609], [-7.488150119781494, -3.084453821182251, -5.4579901695251465], [-7.328790187835693, -3.084453821182251, -4.20536994934082]]", "geodesic_distance": 7.559744834899902, "gt_locations": "[[-12.475899696350098, -2.9704554080963135, -4.433430194854736], [-12.475899696350098, -2.963700532913208, -4.683430194854736], [-12.540604591369629, -2.953962802886963, -4.9249114990234375], [-12.3638277053833, -3.084453821182251, -5.101688385009766], [-12.147321701049805, -3.084453821182251, -5.226688385009766], [-11.930815696716309, -3.084453821182251, -5.351688385009766], [-11.714309692382812, -3.084453821182251, -5.476688385009766], [-11.497803688049316, -3.084453821182251, -5.601688385009766], [-11.28129768371582, -3.084453821182251, -5.726688385009766], [-11.064791679382324, -3.084453821182251, -5.851688385009766], [-10.848285675048828, -3.084453821182251, -5.976688385009766], [-10.631779670715332, -3.084453821182251, -6.101688385009766], [-10.415273666381836, -3.084453821182251, -6.226688385009766], [-10.173791885375977, -3.084453821182251, -6.291393280029297], [-9.932310104370117, -2.9526724815368652, -6.356098175048828], [-9.690828323364258, -3.0016918182373047, -6.420803070068359], [-9.449346542358398, -3.0596046447753906, -6.485507965087891], [-9.207864761352539, -3.084453821182251, -6.550212860107422], [-8.96638298034668, -3.084453821182251, -6.614917755126953], [-8.72490119934082, -3.084453821182251, -6.679622650146484], [-8.508395195007324, -3.084453821182251, -6.554622650146484], [-8.291889190673828, -3.084453821182251, -6.429622650146484], [-8.065983772277832, -3.084453821182251, -6.318721771240234], [-7.940983772277832, -3.084453821182251, -6.10221529006958], [-7.815983772277832, -3.084453821182251, -5.885708808898926], [-7.690983772277832, -3.084453821182251, -5.6692023277282715], [-7.626278877258301, -3.084453821182251, -5.42772102355957], [-7.5615739822387695, -3.084453821182251, -5.186239719390869], [-7.5615739822387695, -3.084453821182251, -4.936239719390869], [-7.496869087219238, -3.084453821182251, -4.694758415222168], [-7.432164192199707, -3.084453821182251, -4.453277111053467]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 526, "episode_id": "527", "scene_id": "EDJbREhghzL", "instruction": "Walk straight past the fireplace. Turn slightly left and go straight down the hallway. Turn right and go into the kitchen. Wait there. ", "start_position": [3.600680112838745, 0.1033330038189888, 2.645319938659668], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-4.574920177459717, 0.1033330038189888, 1.5716899633407593], "goal_radius": 3.0, "reference_path": "[[3.600680112838745, 0.1033330038189888, 2.645319938659668], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [-1.837820053100586, 0.1033330038189888, 3.3931798934936523], [-3.3447799682617188, 0.15756168961524963, 4.476079940795898], [-4.635990142822266, 0.14098051190376282, 3.5635299682617188], [-4.574920177459717, 0.1033330038189888, 1.5716899633407593]]", "geodesic_distance": 10.120893478393555, "gt_locations": "[[3.600680112838745, 0.1033330038189888, 2.645319938659668], [3.359198570251465, 0.1033330038189888, 2.71002459526062], [3.109198570251465, 0.1033330038189888, 2.71002459526062], [2.859198570251465, 0.1033330038189888, 2.71002459526062], [2.609198570251465, 0.1033330038189888, 2.71002459526062], [2.359198570251465, 0.1033330038189888, 2.71002459526062], [2.109198570251465, 0.1033330038189888, 2.71002459526062], [1.8591985702514648, 0.1033330038189888, 2.71002459526062], [1.6091985702514648, 0.1033330038189888, 2.71002459526062], [1.3591985702514648, 0.1033330038189888, 2.71002459526062], [1.1091985702514648, 0.1033330038189888, 2.71002459526062], [0.8591985702514648, 0.1033330038189888, 2.71002459526062], [0.6091985702514648, 0.1033330038189888, 2.71002459526062], [0.35919857025146484, 0.1033330038189888, 2.71002459526062], [0.10919857025146484, 0.1033330038189888, 2.71002459526062], [-0.13228289783000946, 0.1033330038189888, 2.7747292518615723], [-0.37376436591148376, 0.1033330038189888, 2.8394339084625244], [-0.6152458190917969, 0.1033330038189888, 2.9041385650634766], [-0.8567273020744324, 0.1033330038189888, 2.9688432216644287], [-1.0982087850570679, 0.1033330038189888, 3.033547878265381], [-1.3147151470184326, 0.1033330038189888, 3.158547878265381], [-1.5312215089797974, 0.1033330038189888, 3.283547878265381], [-1.747727870941162, 0.1033330038189888, 3.408547878265381], [-1.9642342329025269, 0.1033330038189888, 3.533547878265381], [-2.1807405948638916, 0.1033330038189888, 3.658547878265381], [-2.3575172424316406, 0.1033330038189888, 3.83532452583313], [-2.574023723602295, 0.1033330038189888, 3.96032452583313], [-2.790530204772949, 0.1033330038189888, 4.085324287414551], [-3.0070366859436035, 0.1033330038189888, 4.210324287414551], [-3.248518228530884, 0.1033330038189888, 4.1456193923950195], [-3.489999771118164, 0.1033330038189888, 4.080914497375488], [-3.7314813137054443, 0.13111373782157898, 4.016209602355957], [-3.9479875564575195, 0.14418603479862213, 3.891209602355957], [-4.164494037628174, 0.14909595251083374, 3.766209602355957], [-4.381000518798828, 0.14044827222824097, 3.641209602355957], [-4.445705413818359, 0.10640512406826019, 3.3997280597686768], [-4.445705413818359, 0.1033330038189888, 3.1497280597686768], [-4.445705413818359, 0.1033330038189888, 2.8997280597686768], [-4.445705413818359, 0.1033330038189888, 2.6497280597686768], [-4.445705413818359, 0.1033330038189888, 2.3997280597686768], [-4.445705413818359, 0.1033330038189888, 2.1497280597686768], [-4.510410308837891, 0.1033330038189888, 1.908246636390686]]", "gt_actions": "[3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 527, "episode_id": "528", "scene_id": "EDJbREhghzL", "instruction": "Walk past the fireplace and chair and into the hallway. Veer left and walk past the end table. Walk past the stairs and turn right. Walk into the kitchen and stop. ", "start_position": [3.600680112838745, 0.1033330038189888, 2.645319938659668], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-4.574920177459717, 0.1033330038189888, 1.5716899633407593], "goal_radius": 3.0, "reference_path": "[[3.600680112838745, 0.1033330038189888, 2.645319938659668], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [-1.837820053100586, 0.1033330038189888, 3.3931798934936523], [-3.3447799682617188, 0.15756168961524963, 4.476079940795898], [-4.635990142822266, 0.14098051190376282, 3.5635299682617188], [-4.574920177459717, 0.1033330038189888, 1.5716899633407593]]", "geodesic_distance": 10.120893478393555, "gt_locations": "[[3.600680112838745, 0.1033330038189888, 2.645319938659668], [3.359198570251465, 0.1033330038189888, 2.71002459526062], [3.109198570251465, 0.1033330038189888, 2.71002459526062], [2.859198570251465, 0.1033330038189888, 2.71002459526062], [2.609198570251465, 0.1033330038189888, 2.71002459526062], [2.359198570251465, 0.1033330038189888, 2.71002459526062], [2.109198570251465, 0.1033330038189888, 2.71002459526062], [1.8591985702514648, 0.1033330038189888, 2.71002459526062], [1.6091985702514648, 0.1033330038189888, 2.71002459526062], [1.3591985702514648, 0.1033330038189888, 2.71002459526062], [1.1091985702514648, 0.1033330038189888, 2.71002459526062], [0.8591985702514648, 0.1033330038189888, 2.71002459526062], [0.6091985702514648, 0.1033330038189888, 2.71002459526062], [0.35919857025146484, 0.1033330038189888, 2.71002459526062], [0.10919857025146484, 0.1033330038189888, 2.71002459526062], [-0.13228289783000946, 0.1033330038189888, 2.7747292518615723], [-0.37376436591148376, 0.1033330038189888, 2.8394339084625244], [-0.6152458190917969, 0.1033330038189888, 2.9041385650634766], [-0.8567273020744324, 0.1033330038189888, 2.9688432216644287], [-1.0982087850570679, 0.1033330038189888, 3.033547878265381], [-1.3147151470184326, 0.1033330038189888, 3.158547878265381], [-1.5312215089797974, 0.1033330038189888, 3.283547878265381], [-1.747727870941162, 0.1033330038189888, 3.408547878265381], [-1.9642342329025269, 0.1033330038189888, 3.533547878265381], [-2.1807405948638916, 0.1033330038189888, 3.658547878265381], [-2.3575172424316406, 0.1033330038189888, 3.83532452583313], [-2.574023723602295, 0.1033330038189888, 3.96032452583313], [-2.790530204772949, 0.1033330038189888, 4.085324287414551], [-3.0070366859436035, 0.1033330038189888, 4.210324287414551], [-3.248518228530884, 0.1033330038189888, 4.1456193923950195], [-3.489999771118164, 0.1033330038189888, 4.080914497375488], [-3.7314813137054443, 0.13111373782157898, 4.016209602355957], [-3.9479875564575195, 0.14418603479862213, 3.891209602355957], [-4.164494037628174, 0.14909595251083374, 3.766209602355957], [-4.381000518798828, 0.14044827222824097, 3.641209602355957], [-4.445705413818359, 0.10640512406826019, 3.3997280597686768], [-4.445705413818359, 0.1033330038189888, 3.1497280597686768], [-4.445705413818359, 0.1033330038189888, 2.8997280597686768], [-4.445705413818359, 0.1033330038189888, 2.6497280597686768], [-4.445705413818359, 0.1033330038189888, 2.3997280597686768], [-4.445705413818359, 0.1033330038189888, 2.1497280597686768], [-4.510410308837891, 0.1033330038189888, 1.908246636390686]]", "gt_actions": "[3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 528, "episode_id": "529", "scene_id": "EDJbREhghzL", "instruction": "Turn right and walk along the hallway. Turn slightly left and walk towards the stairs. Turn slightly right and walk towards the kitchen area. Wait by the painting in the kitchen area. ", "start_position": [3.600680112838745, 0.1033330038189888, 2.645319938659668], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-4.574920177459717, 0.1033330038189888, 1.5716899633407593], "goal_radius": 3.0, "reference_path": "[[3.600680112838745, 0.1033330038189888, 2.645319938659668], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [-1.837820053100586, 0.1033330038189888, 3.3931798934936523], [-3.3447799682617188, 0.15756168961524963, 4.476079940795898], [-4.635990142822266, 0.14098051190376282, 3.5635299682617188], [-4.574920177459717, 0.1033330038189888, 1.5716899633407593]]", "geodesic_distance": 10.120893478393555, "gt_locations": "[[3.600680112838745, 0.1033330038189888, 2.645319938659668], [3.359198570251465, 0.1033330038189888, 2.71002459526062], [3.109198570251465, 0.1033330038189888, 2.71002459526062], [2.859198570251465, 0.1033330038189888, 2.71002459526062], [2.609198570251465, 0.1033330038189888, 2.71002459526062], [2.359198570251465, 0.1033330038189888, 2.71002459526062], [2.109198570251465, 0.1033330038189888, 2.71002459526062], [1.8591985702514648, 0.1033330038189888, 2.71002459526062], [1.6091985702514648, 0.1033330038189888, 2.71002459526062], [1.3591985702514648, 0.1033330038189888, 2.71002459526062], [1.1091985702514648, 0.1033330038189888, 2.71002459526062], [0.8591985702514648, 0.1033330038189888, 2.71002459526062], [0.6091985702514648, 0.1033330038189888, 2.71002459526062], [0.35919857025146484, 0.1033330038189888, 2.71002459526062], [0.10919857025146484, 0.1033330038189888, 2.71002459526062], [-0.13228289783000946, 0.1033330038189888, 2.7747292518615723], [-0.37376436591148376, 0.1033330038189888, 2.8394339084625244], [-0.6152458190917969, 0.1033330038189888, 2.9041385650634766], [-0.8567273020744324, 0.1033330038189888, 2.9688432216644287], [-1.0982087850570679, 0.1033330038189888, 3.033547878265381], [-1.3147151470184326, 0.1033330038189888, 3.158547878265381], [-1.5312215089797974, 0.1033330038189888, 3.283547878265381], [-1.747727870941162, 0.1033330038189888, 3.408547878265381], [-1.9642342329025269, 0.1033330038189888, 3.533547878265381], [-2.1807405948638916, 0.1033330038189888, 3.658547878265381], [-2.3575172424316406, 0.1033330038189888, 3.83532452583313], [-2.574023723602295, 0.1033330038189888, 3.96032452583313], [-2.790530204772949, 0.1033330038189888, 4.085324287414551], [-3.0070366859436035, 0.1033330038189888, 4.210324287414551], [-3.248518228530884, 0.1033330038189888, 4.1456193923950195], [-3.489999771118164, 0.1033330038189888, 4.080914497375488], [-3.7314813137054443, 0.13111373782157898, 4.016209602355957], [-3.9479875564575195, 0.14418603479862213, 3.891209602355957], [-4.164494037628174, 0.14909595251083374, 3.766209602355957], [-4.381000518798828, 0.14044827222824097, 3.641209602355957], [-4.445705413818359, 0.10640512406826019, 3.3997280597686768], [-4.445705413818359, 0.1033330038189888, 3.1497280597686768], [-4.445705413818359, 0.1033330038189888, 2.8997280597686768], [-4.445705413818359, 0.1033330038189888, 2.6497280597686768], [-4.445705413818359, 0.1033330038189888, 2.3997280597686768], [-4.445705413818359, 0.1033330038189888, 2.1497280597686768], [-4.510410308837891, 0.1033330038189888, 1.908246636390686]]", "gt_actions": "[3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 529, "episode_id": "530", "scene_id": "1pXnuDYAj8r", "instruction": "Walk forward to the end of the hall, then turn left.  Enter the bedroom and wait near the chair. ", "start_position": [6.3804497718811035, 3.514145851135254, 7.993269920349121], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.362299919128418, 3.514145851135254, 9.661009788513184], "goal_radius": 3.0, "reference_path": "[[6.3804497718811035, 3.514145851135254, 7.993269920349121], [5.345600128173828, 3.514145851135254, 8.048270225524902], [4.260159969329834, 3.514145851135254, 8.045940399169922], [4.170619964599609, 3.514145851135254, 9.554770469665527], [2.362299919128418, 3.514145851135254, 9.661009788513184]]", "geodesic_distance": 4.597196102142334, "gt_locations": "[[6.3804497718811035, 3.514145851135254, 7.993269920349121], [6.1304497718811035, 3.514145851135254, 7.993269920349121], [5.8804497718811035, 3.514145851135254, 7.993269920349121], [5.6304497718811035, 3.514145851135254, 7.993269920349121], [5.3804497718811035, 3.514145851135254, 7.993269920349121], [5.1304497718811035, 3.514145851135254, 7.993269920349121], [4.888968467712402, 3.514145851135254, 8.057974815368652], [4.638968467712402, 3.514145851135254, 8.057974815368652], [4.574263572692871, 3.514145851135254, 8.299456596374512], [4.50955867767334, 3.514145851135254, 8.540938377380371], [4.38455867767334, 3.514145851135254, 8.757444381713867], [4.319853782653809, 3.514145851135254, 8.998926162719727], [4.255148887634277, 3.514145851135254, 9.240407943725586], [4.013667583465576, 3.514145851135254, 9.305112838745117], [3.772186040878296, 3.514145851135254, 9.369817733764648], [3.5307044982910156, 3.514145851135254, 9.43452262878418], [3.2892229557037354, 3.514145851135254, 9.499227523803711], [3.047741413116455, 3.514145851135254, 9.563932418823242], [2.806259870529175, 3.514145851135254, 9.628637313842773]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 530, "episode_id": "531", "scene_id": "1pXnuDYAj8r", "instruction": "Stand so the feather artwork is on your left and walk straight into the room with the purple zigzag walls.  Turn left upon entering the room and turn right in front of the sign that says \"SKI\".  Walk towards the white chair and stop in front of the door to the bathroom. ", "start_position": [6.3804497718811035, 3.514145851135254, 7.993269920349121], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.362299919128418, 3.514145851135254, 9.661009788513184], "goal_radius": 3.0, "reference_path": "[[6.3804497718811035, 3.514145851135254, 7.993269920349121], [5.345600128173828, 3.514145851135254, 8.048270225524902], [4.260159969329834, 3.514145851135254, 8.045940399169922], [4.170619964599609, 3.514145851135254, 9.554770469665527], [2.362299919128418, 3.514145851135254, 9.661009788513184]]", "geodesic_distance": 4.597196102142334, "gt_locations": "[[6.3804497718811035, 3.514145851135254, 7.993269920349121], [6.1304497718811035, 3.514145851135254, 7.993269920349121], [5.8804497718811035, 3.514145851135254, 7.993269920349121], [5.6304497718811035, 3.514145851135254, 7.993269920349121], [5.3804497718811035, 3.514145851135254, 7.993269920349121], [5.1304497718811035, 3.514145851135254, 7.993269920349121], [4.888968467712402, 3.514145851135254, 8.057974815368652], [4.638968467712402, 3.514145851135254, 8.057974815368652], [4.574263572692871, 3.514145851135254, 8.299456596374512], [4.50955867767334, 3.514145851135254, 8.540938377380371], [4.38455867767334, 3.514145851135254, 8.757444381713867], [4.319853782653809, 3.514145851135254, 8.998926162719727], [4.255148887634277, 3.514145851135254, 9.240407943725586], [4.013667583465576, 3.514145851135254, 9.305112838745117], [3.772186040878296, 3.514145851135254, 9.369817733764648], [3.5307044982910156, 3.514145851135254, 9.43452262878418], [3.2892229557037354, 3.514145851135254, 9.499227523803711], [3.047741413116455, 3.514145851135254, 9.563932418823242], [2.806259870529175, 3.514145851135254, 9.628637313842773]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 531, "episode_id": "532", "scene_id": "1pXnuDYAj8r", "instruction": "walk towards the picture on the wall and turn left, turn right, then wait near the bathroom. ", "start_position": [6.3804497718811035, 3.514145851135254, 7.993269920349121], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.362299919128418, 3.514145851135254, 9.661009788513184], "goal_radius": 3.0, "reference_path": "[[6.3804497718811035, 3.514145851135254, 7.993269920349121], [5.345600128173828, 3.514145851135254, 8.048270225524902], [4.260159969329834, 3.514145851135254, 8.045940399169922], [4.170619964599609, 3.514145851135254, 9.554770469665527], [2.362299919128418, 3.514145851135254, 9.661009788513184]]", "geodesic_distance": 4.597196102142334, "gt_locations": "[[6.3804497718811035, 3.514145851135254, 7.993269920349121], [6.1304497718811035, 3.514145851135254, 7.993269920349121], [5.8804497718811035, 3.514145851135254, 7.993269920349121], [5.6304497718811035, 3.514145851135254, 7.993269920349121], [5.3804497718811035, 3.514145851135254, 7.993269920349121], [5.1304497718811035, 3.514145851135254, 7.993269920349121], [4.888968467712402, 3.514145851135254, 8.057974815368652], [4.638968467712402, 3.514145851135254, 8.057974815368652], [4.574263572692871, 3.514145851135254, 8.299456596374512], [4.50955867767334, 3.514145851135254, 8.540938377380371], [4.38455867767334, 3.514145851135254, 8.757444381713867], [4.319853782653809, 3.514145851135254, 8.998926162719727], [4.255148887634277, 3.514145851135254, 9.240407943725586], [4.013667583465576, 3.514145851135254, 9.305112838745117], [3.772186040878296, 3.514145851135254, 9.369817733764648], [3.5307044982910156, 3.514145851135254, 9.43452262878418], [3.2892229557037354, 3.514145851135254, 9.499227523803711], [3.047741413116455, 3.514145851135254, 9.563932418823242], [2.806259870529175, 3.514145851135254, 9.628637313842773]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 532, "episode_id": "533", "scene_id": "2n8kARJN3HM", "instruction": "Walk out of the bathroom and turn right. Walk around the bed and turn left outside the bedroom. Walk right through the entryway and walk to the top of the stairs and stop. ", "start_position": [-0.763716995716095, 0.13123798370361328, 7.832670211791992], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [8.11322021484375, 0.13123798370361328, -1.918429970741272], "goal_radius": 3.0, "reference_path": "[[-0.763716995716095, 0.13123798370361328, 7.832670211791992], [-0.825406014919281, 0.13123798370361328, 6.632339954376221], [0.4201659858226776, 0.13123798370361328, 5.897210121154785], [2.8048899173736572, 0.13123798370361328, 4.018740177154541], [3.626879930496216, 0.13123798370361328, 2.8772499561309814], [6.418399810791016, 0.13123798370361328, -0.22663000226020813], [8.11322021484375, 0.13123798370361328, -1.918429970741272]]", "geodesic_distance": 14.157157897949219, "gt_locations": "[[-0.763716995716095, 0.13123798370361328, 7.832670211791992], [-0.763716995716095, 0.13123798370361328, 7.582670211791992], [-0.763716995716095, 0.13123798370361328, 7.332670211791992], [-0.763716995716095, 0.13123798370361328, 7.082670211791992], [-0.6990122199058533, 0.13123798370361328, 6.841188907623291], [-0.5740121603012085, 0.13123798370361328, 6.624682426452637], [-0.46205517649650574, 0.13123798370361328, 6.39948034286499], [-0.2455487996339798, 0.13123798370361328, 6.27448034286499], [-0.029042422771453857, 0.13123798370361328, 6.14948034286499], [0.18746395409107208, 0.13123798370361328, 6.02448034286499], [0.4289454519748688, 0.13123798370361328, 5.959775447845459], [0.6704269647598267, 0.13123798370361328, 5.895070552825928], [0.9119084477424622, 0.13123798370361328, 5.8303656578063965], [1.1533899307250977, 0.13123798370361328, 5.765660762786865], [1.394871473312378, 0.13123798370361328, 5.700955867767334], [1.6113778352737427, 0.13123798370361328, 5.575955867767334], [1.7872579097747803, 0.13123798370361328, 5.357953071594238], [1.9122579097747803, 0.13123798370361328, 5.141446590423584], [2.0372579097747803, 0.13123798370361328, 4.92494010925293], [2.2140345573425293, 0.13123798370361328, 4.748163223266602], [2.3908112049102783, 0.13123798370361328, 4.571386337280273], [2.5675878524780273, 0.13123798370361328, 4.394609451293945], [2.6925878524780273, 0.13123798370361328, 4.178102970123291], [2.8175878524780273, 0.13123798370361328, 3.961596727371216], [2.9943645000457764, 0.13123798370361328, 3.784820079803467], [3.0764319896698, 0.13123798370361328, 3.5257015228271484], [3.253208637237549, 0.13123798370361328, 3.3489248752593994], [3.429985284805298, 0.13123798370361328, 3.1721482276916504], [3.554985284805298, 0.13123798370361328, 2.955641984939575], [3.679985284805298, 0.13123798370361328, 2.7391357421875], [3.804985284805298, 0.13123798370361328, 2.522629499435425], [3.981761932373047, 0.13123798370361328, 2.345852851867676], [4.158538818359375, 0.13123798370361328, 2.1690762042999268], [4.335315704345703, 0.13123798370361328, 1.9922995567321777], [4.512092590332031, 0.13123798370361328, 1.8155229091644287], [4.688869476318359, 0.13123798370361328, 1.6387462615966797], [4.8656463623046875, 0.13123798370361328, 1.4619696140289307], [5.042423248291016, 0.13123798370361328, 1.2851929664611816], [5.219200134277344, 0.13123798370361328, 1.1084163188934326], [5.435706615447998, 0.13123798370361328, 0.9834163188934326], [5.589864730834961, 0.13123798370361328, 0.7669099569320679], [5.766641616821289, 0.13123798370361328, 0.5901332497596741], [5.943418502807617, 0.13123798370361328, 0.4133565425872803], [6.120195388793945, 0.13123798370361328, 0.23657983541488647], [6.245195388793945, 0.13123798370361328, 0.02007347345352173], [6.421972274780273, 0.13123798370361328, -0.15670323371887207], [6.598749160766602, 0.13123798370361328, -0.33347994089126587], [6.815255641937256, 0.13123798370361328, -0.45847997069358826], [6.992032527923584, 0.13123798370361328, -0.6352567076683044], [7.168809413909912, 0.13123798370361328, -0.8120334148406982], [7.34558629989624, 0.13123798370361328, -0.988810122013092], [7.522363185882568, 0.13123798370361328, -1.1655868291854858], [7.6991400718688965, 0.13123798370361328, -1.3423635959625244], [7.8241400718688965, 0.13123798370361328, -1.5588699579238892]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 1, 3, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 533, "episode_id": "534", "scene_id": "2n8kARJN3HM", "instruction": "Cross through the bedroom into the hallway and make a left, then head through the archway to the stair landing. Stop and wait near the door. ", "start_position": [-0.763716995716095, 0.13123798370361328, 7.832670211791992], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [8.11322021484375, 0.13123798370361328, -1.918429970741272], "goal_radius": 3.0, "reference_path": "[[-0.763716995716095, 0.13123798370361328, 7.832670211791992], [-0.825406014919281, 0.13123798370361328, 6.632339954376221], [0.4201659858226776, 0.13123798370361328, 5.897210121154785], [2.8048899173736572, 0.13123798370361328, 4.018740177154541], [3.626879930496216, 0.13123798370361328, 2.8772499561309814], [6.418399810791016, 0.13123798370361328, -0.22663000226020813], [8.11322021484375, 0.13123798370361328, -1.918429970741272]]", "geodesic_distance": 14.157157897949219, "gt_locations": "[[-0.763716995716095, 0.13123798370361328, 7.832670211791992], [-0.763716995716095, 0.13123798370361328, 7.582670211791992], [-0.763716995716095, 0.13123798370361328, 7.332670211791992], [-0.763716995716095, 0.13123798370361328, 7.082670211791992], [-0.6990122199058533, 0.13123798370361328, 6.841188907623291], [-0.5740121603012085, 0.13123798370361328, 6.624682426452637], [-0.46205517649650574, 0.13123798370361328, 6.39948034286499], [-0.2455487996339798, 0.13123798370361328, 6.27448034286499], [-0.029042422771453857, 0.13123798370361328, 6.14948034286499], [0.18746395409107208, 0.13123798370361328, 6.02448034286499], [0.4289454519748688, 0.13123798370361328, 5.959775447845459], [0.6704269647598267, 0.13123798370361328, 5.895070552825928], [0.9119084477424622, 0.13123798370361328, 5.8303656578063965], [1.1533899307250977, 0.13123798370361328, 5.765660762786865], [1.394871473312378, 0.13123798370361328, 5.700955867767334], [1.6113778352737427, 0.13123798370361328, 5.575955867767334], [1.7872579097747803, 0.13123798370361328, 5.357953071594238], [1.9122579097747803, 0.13123798370361328, 5.141446590423584], [2.0372579097747803, 0.13123798370361328, 4.92494010925293], [2.2140345573425293, 0.13123798370361328, 4.748163223266602], [2.3908112049102783, 0.13123798370361328, 4.571386337280273], [2.5675878524780273, 0.13123798370361328, 4.394609451293945], [2.6925878524780273, 0.13123798370361328, 4.178102970123291], [2.8175878524780273, 0.13123798370361328, 3.961596727371216], [2.9943645000457764, 0.13123798370361328, 3.784820079803467], [3.0764319896698, 0.13123798370361328, 3.5257015228271484], [3.253208637237549, 0.13123798370361328, 3.3489248752593994], [3.429985284805298, 0.13123798370361328, 3.1721482276916504], [3.554985284805298, 0.13123798370361328, 2.955641984939575], [3.679985284805298, 0.13123798370361328, 2.7391357421875], [3.804985284805298, 0.13123798370361328, 2.522629499435425], [3.981761932373047, 0.13123798370361328, 2.345852851867676], [4.158538818359375, 0.13123798370361328, 2.1690762042999268], [4.335315704345703, 0.13123798370361328, 1.9922995567321777], [4.512092590332031, 0.13123798370361328, 1.8155229091644287], [4.688869476318359, 0.13123798370361328, 1.6387462615966797], [4.8656463623046875, 0.13123798370361328, 1.4619696140289307], [5.042423248291016, 0.13123798370361328, 1.2851929664611816], [5.219200134277344, 0.13123798370361328, 1.1084163188934326], [5.435706615447998, 0.13123798370361328, 0.9834163188934326], [5.589864730834961, 0.13123798370361328, 0.7669099569320679], [5.766641616821289, 0.13123798370361328, 0.5901332497596741], [5.943418502807617, 0.13123798370361328, 0.4133565425872803], [6.120195388793945, 0.13123798370361328, 0.23657983541488647], [6.245195388793945, 0.13123798370361328, 0.02007347345352173], [6.421972274780273, 0.13123798370361328, -0.15670323371887207], [6.598749160766602, 0.13123798370361328, -0.33347994089126587], [6.815255641937256, 0.13123798370361328, -0.45847997069358826], [6.992032527923584, 0.13123798370361328, -0.6352567076683044], [7.168809413909912, 0.13123798370361328, -0.8120334148406982], [7.34558629989624, 0.13123798370361328, -0.988810122013092], [7.522363185882568, 0.13123798370361328, -1.1655868291854858], [7.6991400718688965, 0.13123798370361328, -1.3423635959625244], [7.8241400718688965, 0.13123798370361328, -1.5588699579238892]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 1, 3, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 534, "episode_id": "535", "scene_id": "2n8kARJN3HM", "instruction": "Turn all the way around and walk through the door into the bedroom. Walk to the right around the bed and exit through the door. Turn left slightly and walk towards the double doors leading outside. Stop a couple of from the doors. ", "start_position": [-0.763716995716095, 0.13123798370361328, 7.832670211791992], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [8.11322021484375, 0.13123798370361328, -1.918429970741272], "goal_radius": 3.0, "reference_path": "[[-0.763716995716095, 0.13123798370361328, 7.832670211791992], [-0.825406014919281, 0.13123798370361328, 6.632339954376221], [0.4201659858226776, 0.13123798370361328, 5.897210121154785], [2.8048899173736572, 0.13123798370361328, 4.018740177154541], [3.626879930496216, 0.13123798370361328, 2.8772499561309814], [6.418399810791016, 0.13123798370361328, -0.22663000226020813], [8.11322021484375, 0.13123798370361328, -1.918429970741272]]", "geodesic_distance": 14.157157897949219, "gt_locations": "[[-0.763716995716095, 0.13123798370361328, 7.832670211791992], [-0.763716995716095, 0.13123798370361328, 7.582670211791992], [-0.763716995716095, 0.13123798370361328, 7.332670211791992], [-0.763716995716095, 0.13123798370361328, 7.082670211791992], [-0.6990122199058533, 0.13123798370361328, 6.841188907623291], [-0.5740121603012085, 0.13123798370361328, 6.624682426452637], [-0.46205517649650574, 0.13123798370361328, 6.39948034286499], [-0.2455487996339798, 0.13123798370361328, 6.27448034286499], [-0.029042422771453857, 0.13123798370361328, 6.14948034286499], [0.18746395409107208, 0.13123798370361328, 6.02448034286499], [0.4289454519748688, 0.13123798370361328, 5.959775447845459], [0.6704269647598267, 0.13123798370361328, 5.895070552825928], [0.9119084477424622, 0.13123798370361328, 5.8303656578063965], [1.1533899307250977, 0.13123798370361328, 5.765660762786865], [1.394871473312378, 0.13123798370361328, 5.700955867767334], [1.6113778352737427, 0.13123798370361328, 5.575955867767334], [1.7872579097747803, 0.13123798370361328, 5.357953071594238], [1.9122579097747803, 0.13123798370361328, 5.141446590423584], [2.0372579097747803, 0.13123798370361328, 4.92494010925293], [2.2140345573425293, 0.13123798370361328, 4.748163223266602], [2.3908112049102783, 0.13123798370361328, 4.571386337280273], [2.5675878524780273, 0.13123798370361328, 4.394609451293945], [2.6925878524780273, 0.13123798370361328, 4.178102970123291], [2.8175878524780273, 0.13123798370361328, 3.961596727371216], [2.9943645000457764, 0.13123798370361328, 3.784820079803467], [3.0764319896698, 0.13123798370361328, 3.5257015228271484], [3.253208637237549, 0.13123798370361328, 3.3489248752593994], [3.429985284805298, 0.13123798370361328, 3.1721482276916504], [3.554985284805298, 0.13123798370361328, 2.955641984939575], [3.679985284805298, 0.13123798370361328, 2.7391357421875], [3.804985284805298, 0.13123798370361328, 2.522629499435425], [3.981761932373047, 0.13123798370361328, 2.345852851867676], [4.158538818359375, 0.13123798370361328, 2.1690762042999268], [4.335315704345703, 0.13123798370361328, 1.9922995567321777], [4.512092590332031, 0.13123798370361328, 1.8155229091644287], [4.688869476318359, 0.13123798370361328, 1.6387462615966797], [4.8656463623046875, 0.13123798370361328, 1.4619696140289307], [5.042423248291016, 0.13123798370361328, 1.2851929664611816], [5.219200134277344, 0.13123798370361328, 1.1084163188934326], [5.435706615447998, 0.13123798370361328, 0.9834163188934326], [5.589864730834961, 0.13123798370361328, 0.7669099569320679], [5.766641616821289, 0.13123798370361328, 0.5901332497596741], [5.943418502807617, 0.13123798370361328, 0.4133565425872803], [6.120195388793945, 0.13123798370361328, 0.23657983541488647], [6.245195388793945, 0.13123798370361328, 0.02007347345352173], [6.421972274780273, 0.13123798370361328, -0.15670323371887207], [6.598749160766602, 0.13123798370361328, -0.33347994089126587], [6.815255641937256, 0.13123798370361328, -0.45847997069358826], [6.992032527923584, 0.13123798370361328, -0.6352567076683044], [7.168809413909912, 0.13123798370361328, -0.8120334148406982], [7.34558629989624, 0.13123798370361328, -0.988810122013092], [7.522363185882568, 0.13123798370361328, -1.1655868291854858], [7.6991400718688965, 0.13123798370361328, -1.3423635959625244], [7.8241400718688965, 0.13123798370361328, -1.5588699579238892]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 1, 3, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 2, 2, 1, 3, 3, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 535, "episode_id": "536", "scene_id": "cV4RVeZvu5T", "instruction": "Walk past the floral couch.  Exit through door.  Walk straight until you reach a wooden chest on the floor.  Turn left, and walk out the door with crucifix.  Wait by doormat. ", "start_position": [-5.838329792022705, 3.3184680938720703, -0.6587799787521362], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.1909199953079224, 3.3184680938720703, -2.3835299015045166], "goal_radius": 3.0, "reference_path": "[[-5.838329792022705, 3.3184680938720703, -0.6587799787521362], [-3.0702600479125977, 3.3184680938720703, 0.364546000957489], [-1.983109951019287, 3.3184680938720703, 0.3021889925003052], [0.09618780016899109, 3.3184680938720703, -0.040094900876283646], [1.1939899921417236, 3.3184680938720703, -1.0094399452209473], [1.1909199953079224, 3.3184680938720703, -2.3835299015045166]]", "geodesic_distance": 8.965141296386719, "gt_locations": "[[-5.838329792022705, 3.3184680938720703, -0.6587799787521362], [-5.773624897003174, 3.3184680938720703, -0.41729849576950073], [-5.708920001983643, 3.3184680938720703, -0.17581701278686523], [-5.535792827606201, 3.3184680938720703, 0.004609286785125732], [-5.2943115234375, 3.3184680938720703, 0.06931404769420624], [-5.052830219268799, 3.3184680938720703, 0.1340188831090927], [-4.811348915100098, 3.3184680938720703, 0.1987237185239792], [-4.5698676109313965, 3.3184680938720703, 0.26342856884002686], [-4.3198676109313965, 3.3184680938720703, 0.26342859864234924], [-4.0698676109313965, 3.3184680938720703, 0.26342862844467163], [-3.8198676109313965, 3.3184680938720703, 0.263428658246994], [-3.578386068344116, 3.3184680938720703, 0.3281334638595581], [-3.328386068344116, 3.3184680938720703, 0.3281334936618805], [-3.078386068344116, 3.3184680938720703, 0.3281335234642029], [-2.828386068344116, 3.3184680938720703, 0.32813355326652527], [-2.578386068344116, 3.3184680938720703, 0.32813358306884766], [-2.328386068344116, 3.3184680938720703, 0.32813361287117004], [-2.078386068344116, 3.3184680938720703, 0.32813364267349243], [-1.8283860683441162, 3.3184680938720703, 0.3281336724758148], [-1.5783860683441162, 3.3184680938720703, 0.3281337022781372], [-1.336904525756836, 3.3184680938720703, 0.2634289860725403], [-1.086904525756836, 3.3184680938720703, 0.26342901587486267], [-0.8369045257568359, 3.3184680938720703, 0.26342904567718506], [-0.5954230427742004, 3.3184680938720703, 0.19872431457042694], [-0.35394155979156494, 3.3184680938720703, 0.13401958346366882], [-0.137435182929039, 3.3184680938720703, 0.009019613265991211], [0.07907119393348694, 3.3184680938720703, -0.1159803569316864], [0.2955775856971741, 3.3184680938720703, -0.240980327129364], [0.47235432267189026, 3.3184680938720703, -0.41775697469711304], [0.6491310596466064, 3.3184680938720703, -0.5945336222648621], [0.825907826423645, 3.3184680938720703, -0.7713102698326111], [0.8906126022338867, 3.3184680938720703, -1.0127917528152466], [0.9553173780441284, 3.3184680938720703, -1.2542731761932373], [1.0200221538543701, 3.3184680938720703, -1.495754599571228], [1.0847269296646118, 3.3184680938720703, -1.7372360229492188], [1.1494317054748535, 3.3184680938720703, -1.9787174463272095]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 2, 2, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 536, "episode_id": "537", "scene_id": "cV4RVeZvu5T", "instruction": "Walk past the couch on the left. Go straight until you get to a large door on the left. Go out that door and wait outside. ", "start_position": [-5.838329792022705, 3.3184680938720703, -0.6587799787521362], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.1909199953079224, 3.3184680938720703, -2.3835299015045166], "goal_radius": 3.0, "reference_path": "[[-5.838329792022705, 3.3184680938720703, -0.6587799787521362], [-3.0702600479125977, 3.3184680938720703, 0.364546000957489], [-1.983109951019287, 3.3184680938720703, 0.3021889925003052], [0.09618780016899109, 3.3184680938720703, -0.040094900876283646], [1.1939899921417236, 3.3184680938720703, -1.0094399452209473], [1.1909199953079224, 3.3184680938720703, -2.3835299015045166]]", "geodesic_distance": 8.965141296386719, "gt_locations": "[[-5.838329792022705, 3.3184680938720703, -0.6587799787521362], [-5.773624897003174, 3.3184680938720703, -0.41729849576950073], [-5.708920001983643, 3.3184680938720703, -0.17581701278686523], [-5.535792827606201, 3.3184680938720703, 0.004609286785125732], [-5.2943115234375, 3.3184680938720703, 0.06931404769420624], [-5.052830219268799, 3.3184680938720703, 0.1340188831090927], [-4.811348915100098, 3.3184680938720703, 0.1987237185239792], [-4.5698676109313965, 3.3184680938720703, 0.26342856884002686], [-4.3198676109313965, 3.3184680938720703, 0.26342859864234924], [-4.0698676109313965, 3.3184680938720703, 0.26342862844467163], [-3.8198676109313965, 3.3184680938720703, 0.263428658246994], [-3.578386068344116, 3.3184680938720703, 0.3281334638595581], [-3.328386068344116, 3.3184680938720703, 0.3281334936618805], [-3.078386068344116, 3.3184680938720703, 0.3281335234642029], [-2.828386068344116, 3.3184680938720703, 0.32813355326652527], [-2.578386068344116, 3.3184680938720703, 0.32813358306884766], [-2.328386068344116, 3.3184680938720703, 0.32813361287117004], [-2.078386068344116, 3.3184680938720703, 0.32813364267349243], [-1.8283860683441162, 3.3184680938720703, 0.3281336724758148], [-1.5783860683441162, 3.3184680938720703, 0.3281337022781372], [-1.336904525756836, 3.3184680938720703, 0.2634289860725403], [-1.086904525756836, 3.3184680938720703, 0.26342901587486267], [-0.8369045257568359, 3.3184680938720703, 0.26342904567718506], [-0.5954230427742004, 3.3184680938720703, 0.19872431457042694], [-0.35394155979156494, 3.3184680938720703, 0.13401958346366882], [-0.137435182929039, 3.3184680938720703, 0.009019613265991211], [0.07907119393348694, 3.3184680938720703, -0.1159803569316864], [0.2955775856971741, 3.3184680938720703, -0.240980327129364], [0.47235432267189026, 3.3184680938720703, -0.41775697469711304], [0.6491310596466064, 3.3184680938720703, -0.5945336222648621], [0.825907826423645, 3.3184680938720703, -0.7713102698326111], [0.8906126022338867, 3.3184680938720703, -1.0127917528152466], [0.9553173780441284, 3.3184680938720703, -1.2542731761932373], [1.0200221538543701, 3.3184680938720703, -1.495754599571228], [1.0847269296646118, 3.3184680938720703, -1.7372360229492188], [1.1494317054748535, 3.3184680938720703, -1.9787174463272095]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 2, 2, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 537, "episode_id": "538", "scene_id": "cV4RVeZvu5T", "instruction": "walk past the sofa, turn left, then walk outside and stand on the door mat and wait. ", "start_position": [-5.838329792022705, 3.3184680938720703, -0.6587799787521362], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [1.1909199953079224, 3.3184680938720703, -2.3835299015045166], "goal_radius": 3.0, "reference_path": "[[-5.838329792022705, 3.3184680938720703, -0.6587799787521362], [-3.0702600479125977, 3.3184680938720703, 0.364546000957489], [-1.983109951019287, 3.3184680938720703, 0.3021889925003052], [0.09618780016899109, 3.3184680938720703, -0.040094900876283646], [1.1939899921417236, 3.3184680938720703, -1.0094399452209473], [1.1909199953079224, 3.3184680938720703, -2.3835299015045166]]", "geodesic_distance": 8.965141296386719, "gt_locations": "[[-5.838329792022705, 3.3184680938720703, -0.6587799787521362], [-5.773624897003174, 3.3184680938720703, -0.41729849576950073], [-5.708920001983643, 3.3184680938720703, -0.17581701278686523], [-5.535792827606201, 3.3184680938720703, 0.004609286785125732], [-5.2943115234375, 3.3184680938720703, 0.06931404769420624], [-5.052830219268799, 3.3184680938720703, 0.1340188831090927], [-4.811348915100098, 3.3184680938720703, 0.1987237185239792], [-4.5698676109313965, 3.3184680938720703, 0.26342856884002686], [-4.3198676109313965, 3.3184680938720703, 0.26342859864234924], [-4.0698676109313965, 3.3184680938720703, 0.26342862844467163], [-3.8198676109313965, 3.3184680938720703, 0.263428658246994], [-3.578386068344116, 3.3184680938720703, 0.3281334638595581], [-3.328386068344116, 3.3184680938720703, 0.3281334936618805], [-3.078386068344116, 3.3184680938720703, 0.3281335234642029], [-2.828386068344116, 3.3184680938720703, 0.32813355326652527], [-2.578386068344116, 3.3184680938720703, 0.32813358306884766], [-2.328386068344116, 3.3184680938720703, 0.32813361287117004], [-2.078386068344116, 3.3184680938720703, 0.32813364267349243], [-1.8283860683441162, 3.3184680938720703, 0.3281336724758148], [-1.5783860683441162, 3.3184680938720703, 0.3281337022781372], [-1.336904525756836, 3.3184680938720703, 0.2634289860725403], [-1.086904525756836, 3.3184680938720703, 0.26342901587486267], [-0.8369045257568359, 3.3184680938720703, 0.26342904567718506], [-0.5954230427742004, 3.3184680938720703, 0.19872431457042694], [-0.35394155979156494, 3.3184680938720703, 0.13401958346366882], [-0.137435182929039, 3.3184680938720703, 0.009019613265991211], [0.07907119393348694, 3.3184680938720703, -0.1159803569316864], [0.2955775856971741, 3.3184680938720703, -0.240980327129364], [0.47235432267189026, 3.3184680938720703, -0.41775697469711304], [0.6491310596466064, 3.3184680938720703, -0.5945336222648621], [0.825907826423645, 3.3184680938720703, -0.7713102698326111], [0.8906126022338867, 3.3184680938720703, -1.0127917528152466], [0.9553173780441284, 3.3184680938720703, -1.2542731761932373], [1.0200221538543701, 3.3184680938720703, -1.495754599571228], [1.0847269296646118, 3.3184680938720703, -1.7372360229492188], [1.1494317054748535, 3.3184680938720703, -1.9787174463272095]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 2, 2, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 538, "episode_id": "539", "scene_id": "Vvot9Ly1tCj", "instruction": "Go to your right and go past the kitchen and go to the left of the bar. Just past the bar, go into the bedroom on the left. GO a few steps into the room and wait there. ", "start_position": [-7.45373010635376, 0.04283595085144043, 5.638120174407959], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-10.364299774169922, 0.11432725191116333, -2.7758700847625732], "goal_radius": 3.0, "reference_path": "[[-7.45373010635376, 0.04283595085144043, 5.638120174407959], [-7.274799823760986, 0.04283595085144043, 4.282350063323975], [-6.248720169067383, 0.04283595085144043, 0.27597999572753906], [-7.412010192871094, 0.04283595085144043, -1.247480034828186], [-8.31818962097168, 0.04283595085144043, -2.75285005569458], [-9.479599952697754, 0.09485362470149994, -2.65093994140625], [-10.364299774169922, 0.11432725191116333, -2.7758700847625732]]", "geodesic_distance": 10.65444278717041, "gt_locations": "[[-7.45373010635376, 0.04283595085144043, 5.638120174407959], [-7.45373010635376, 0.04283595085144043, 5.388120174407959], [-7.45373010635376, 0.04283595085144043, 5.138120174407959], [-7.3890252113342285, 0.04283595085144043, 4.896638870239258], [-7.324320316314697, 0.04283595085144043, 4.655157566070557], [-7.259615421295166, 0.04283595085144043, 4.4136762619018555], [-7.194910526275635, 0.04283595085144043, 4.172194957733154], [-7.1302056312561035, 0.04283595085144043, 3.930713415145874], [-7.065500736236572, 0.04283595085144043, 3.6892318725585938], [-6.97200870513916, 0.04283595085144043, 3.455601453781128], [-6.9062299728393555, 0.04283595085144043, 3.2144126892089844], [-6.840451240539551, 0.04283595085144043, 2.973223924636841], [-6.7757463455200195, 0.04283595085144043, 2.7317423820495605], [-6.711041450500488, 0.04283595085144043, 2.4902608394622803], [-6.646336555480957, 0.04283595085144043, 2.248779296875], [-6.581631660461426, 0.04283595085144043, 2.0072977542877197], [-6.5169267654418945, 0.04283595085144043, 1.765816330909729], [-6.452221870422363, 0.04283595085144043, 1.5243349075317383], [-6.387516975402832, 0.04283595085144043, 1.2828534841537476], [-6.322812080383301, 0.04283595085144043, 1.0413720607757568], [-6.322812080383301, 0.04283595085144043, 0.7913720607757568], [-6.322812080383301, 0.04283595085144043, 0.5413720607757568], [-6.447812080383301, 0.04283595085144043, 0.3248657286167145], [-6.572812080383301, 0.04283595085144043, 0.10835939645767212], [-6.697812080383301, 0.04283595085144043, -0.10814693570137024], [-6.822812080383301, 0.04283595085144043, -0.3246532678604126], [-6.947812080383301, 0.04283595085144043, -0.5411596298217773], [-7.072812080383301, 0.04283595085144043, -0.7576659917831421], [-7.197812080383301, 0.04283595085144043, -0.9741723537445068], [-7.322812080383301, 0.04283595085144043, -1.1906787157058716], [-7.447812080383301, 0.04283595085144043, -1.4071850776672363], [-7.572812080383301, 0.04283595085144043, -1.623691439628601], [-7.697812080383301, 0.04283595085144043, -1.8401978015899658], [-7.822812080383301, 0.04283595085144043, -2.056704044342041], [-7.887516975402832, 0.04283595085144043, -2.2981855869293213], [-8.06429386138916, 0.04283595085144043, -2.4749622344970703], [-8.30577564239502, 0.04283595085144043, -2.5396668910980225], [-8.547257423400879, 0.04283595085144043, -2.6043715476989746], [-8.797257423400879, 0.04283595085144043, -2.6043715476989746], [-9.047257423400879, 0.07321716099977493, -2.6043715476989746], [-9.297257423400879, 0.07321716099977493, -2.6043715476989746], [-9.547257423400879, 0.11433352530002594, -2.6043715476989746], [-9.788739204406738, 0.24086248874664307, -2.6690762042999268], [-10.030220985412598, 0.17273490130901337, -2.733780860900879]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 539, "episode_id": "540", "scene_id": "Vvot9Ly1tCj", "instruction": "Head toward dinning area walk past then make a left and enter bedroom area, and wait. ", "start_position": [-7.45373010635376, 0.04283595085144043, 5.638120174407959], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-10.364299774169922, 0.11432725191116333, -2.7758700847625732], "goal_radius": 3.0, "reference_path": "[[-7.45373010635376, 0.04283595085144043, 5.638120174407959], [-7.274799823760986, 0.04283595085144043, 4.282350063323975], [-6.248720169067383, 0.04283595085144043, 0.27597999572753906], [-7.412010192871094, 0.04283595085144043, -1.247480034828186], [-8.31818962097168, 0.04283595085144043, -2.75285005569458], [-9.479599952697754, 0.09485362470149994, -2.65093994140625], [-10.364299774169922, 0.11432725191116333, -2.7758700847625732]]", "geodesic_distance": 10.65444278717041, "gt_locations": "[[-7.45373010635376, 0.04283595085144043, 5.638120174407959], [-7.45373010635376, 0.04283595085144043, 5.388120174407959], [-7.45373010635376, 0.04283595085144043, 5.138120174407959], [-7.3890252113342285, 0.04283595085144043, 4.896638870239258], [-7.324320316314697, 0.04283595085144043, 4.655157566070557], [-7.259615421295166, 0.04283595085144043, 4.4136762619018555], [-7.194910526275635, 0.04283595085144043, 4.172194957733154], [-7.1302056312561035, 0.04283595085144043, 3.930713415145874], [-7.065500736236572, 0.04283595085144043, 3.6892318725585938], [-6.97200870513916, 0.04283595085144043, 3.455601453781128], [-6.9062299728393555, 0.04283595085144043, 3.2144126892089844], [-6.840451240539551, 0.04283595085144043, 2.973223924636841], [-6.7757463455200195, 0.04283595085144043, 2.7317423820495605], [-6.711041450500488, 0.04283595085144043, 2.4902608394622803], [-6.646336555480957, 0.04283595085144043, 2.248779296875], [-6.581631660461426, 0.04283595085144043, 2.0072977542877197], [-6.5169267654418945, 0.04283595085144043, 1.765816330909729], [-6.452221870422363, 0.04283595085144043, 1.5243349075317383], [-6.387516975402832, 0.04283595085144043, 1.2828534841537476], [-6.322812080383301, 0.04283595085144043, 1.0413720607757568], [-6.322812080383301, 0.04283595085144043, 0.7913720607757568], [-6.322812080383301, 0.04283595085144043, 0.5413720607757568], [-6.447812080383301, 0.04283595085144043, 0.3248657286167145], [-6.572812080383301, 0.04283595085144043, 0.10835939645767212], [-6.697812080383301, 0.04283595085144043, -0.10814693570137024], [-6.822812080383301, 0.04283595085144043, -0.3246532678604126], [-6.947812080383301, 0.04283595085144043, -0.5411596298217773], [-7.072812080383301, 0.04283595085144043, -0.7576659917831421], [-7.197812080383301, 0.04283595085144043, -0.9741723537445068], [-7.322812080383301, 0.04283595085144043, -1.1906787157058716], [-7.447812080383301, 0.04283595085144043, -1.4071850776672363], [-7.572812080383301, 0.04283595085144043, -1.623691439628601], [-7.697812080383301, 0.04283595085144043, -1.8401978015899658], [-7.822812080383301, 0.04283595085144043, -2.056704044342041], [-7.887516975402832, 0.04283595085144043, -2.2981855869293213], [-8.06429386138916, 0.04283595085144043, -2.4749622344970703], [-8.30577564239502, 0.04283595085144043, -2.5396668910980225], [-8.547257423400879, 0.04283595085144043, -2.6043715476989746], [-8.797257423400879, 0.04283595085144043, -2.6043715476989746], [-9.047257423400879, 0.07321716099977493, -2.6043715476989746], [-9.297257423400879, 0.07321716099977493, -2.6043715476989746], [-9.547257423400879, 0.11433352530002594, -2.6043715476989746], [-9.788739204406738, 0.24086248874664307, -2.6690762042999268], [-10.030220985412598, 0.17273490130901337, -2.733780860900879]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 540, "episode_id": "541", "scene_id": "Vvot9Ly1tCj", "instruction": "Walk past the island and to the left. Walk through the entryway on the left and stop inside the bedroom. ", "start_position": [-7.45373010635376, 0.04283595085144043, 5.638120174407959], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-10.364299774169922, 0.11432725191116333, -2.7758700847625732], "goal_radius": 3.0, "reference_path": "[[-7.45373010635376, 0.04283595085144043, 5.638120174407959], [-7.274799823760986, 0.04283595085144043, 4.282350063323975], [-6.248720169067383, 0.04283595085144043, 0.27597999572753906], [-7.412010192871094, 0.04283595085144043, -1.247480034828186], [-8.31818962097168, 0.04283595085144043, -2.75285005569458], [-9.479599952697754, 0.09485362470149994, -2.65093994140625], [-10.364299774169922, 0.11432725191116333, -2.7758700847625732]]", "geodesic_distance": 10.65444278717041, "gt_locations": "[[-7.45373010635376, 0.04283595085144043, 5.638120174407959], [-7.45373010635376, 0.04283595085144043, 5.388120174407959], [-7.45373010635376, 0.04283595085144043, 5.138120174407959], [-7.3890252113342285, 0.04283595085144043, 4.896638870239258], [-7.324320316314697, 0.04283595085144043, 4.655157566070557], [-7.259615421295166, 0.04283595085144043, 4.4136762619018555], [-7.194910526275635, 0.04283595085144043, 4.172194957733154], [-7.1302056312561035, 0.04283595085144043, 3.930713415145874], [-7.065500736236572, 0.04283595085144043, 3.6892318725585938], [-6.97200870513916, 0.04283595085144043, 3.455601453781128], [-6.9062299728393555, 0.04283595085144043, 3.2144126892089844], [-6.840451240539551, 0.04283595085144043, 2.973223924636841], [-6.7757463455200195, 0.04283595085144043, 2.7317423820495605], [-6.711041450500488, 0.04283595085144043, 2.4902608394622803], [-6.646336555480957, 0.04283595085144043, 2.248779296875], [-6.581631660461426, 0.04283595085144043, 2.0072977542877197], [-6.5169267654418945, 0.04283595085144043, 1.765816330909729], [-6.452221870422363, 0.04283595085144043, 1.5243349075317383], [-6.387516975402832, 0.04283595085144043, 1.2828534841537476], [-6.322812080383301, 0.04283595085144043, 1.0413720607757568], [-6.322812080383301, 0.04283595085144043, 0.7913720607757568], [-6.322812080383301, 0.04283595085144043, 0.5413720607757568], [-6.447812080383301, 0.04283595085144043, 0.3248657286167145], [-6.572812080383301, 0.04283595085144043, 0.10835939645767212], [-6.697812080383301, 0.04283595085144043, -0.10814693570137024], [-6.822812080383301, 0.04283595085144043, -0.3246532678604126], [-6.947812080383301, 0.04283595085144043, -0.5411596298217773], [-7.072812080383301, 0.04283595085144043, -0.7576659917831421], [-7.197812080383301, 0.04283595085144043, -0.9741723537445068], [-7.322812080383301, 0.04283595085144043, -1.1906787157058716], [-7.447812080383301, 0.04283595085144043, -1.4071850776672363], [-7.572812080383301, 0.04283595085144043, -1.623691439628601], [-7.697812080383301, 0.04283595085144043, -1.8401978015899658], [-7.822812080383301, 0.04283595085144043, -2.056704044342041], [-7.887516975402832, 0.04283595085144043, -2.2981855869293213], [-8.06429386138916, 0.04283595085144043, -2.4749622344970703], [-8.30577564239502, 0.04283595085144043, -2.5396668910980225], [-8.547257423400879, 0.04283595085144043, -2.6043715476989746], [-8.797257423400879, 0.04283595085144043, -2.6043715476989746], [-9.047257423400879, 0.07321716099977493, -2.6043715476989746], [-9.297257423400879, 0.07321716099977493, -2.6043715476989746], [-9.547257423400879, 0.11433352530002594, -2.6043715476989746], [-9.788739204406738, 0.24086248874664307, -2.6690762042999268], [-10.030220985412598, 0.17273490130901337, -2.733780860900879]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 541, "episode_id": "542", "scene_id": "E9uDoFAP3SH", "instruction": "Walk straight into main lobby, stop in archway on the right. ", "start_position": [-6.533450126647949, 0.24438095092773438, 4.197720050811768], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [3.2646100521087646, 0.24438095092773438, 11.371800422668457], "goal_radius": 3.0, "reference_path": "[[-6.533450126647949, 0.24438095092773438, 4.197720050811768], [-2.7539899349212646, 0.24438095092773438, 4.17917013168335], [-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [1.5841200351715088, 0.24438095092773438, 7.353169918060303], [3.2646100521087646, 0.24438095092773438, 11.371800422668457]]", "geodesic_distance": 12.324288368225098, "gt_locations": "[[-6.533450126647949, 0.24438095092773438, 4.197720050811768], [-6.283450126647949, 0.24438095092773438, 4.197720050811768], [-6.033450126647949, 0.24438095092773438, 4.197720050811768], [-5.783450126647949, 0.24438095092773438, 4.197720050811768], [-5.533450126647949, 0.24438095092773438, 4.197720050811768], [-5.283450126647949, 0.24438095092773438, 4.197720050811768], [-5.033450126647949, 0.24438095092773438, 4.197720050811768], [-4.783450126647949, 0.24438095092773438, 4.197720050811768], [-4.533450126647949, 0.24438095092773438, 4.197720050811768], [-4.283450126647949, 0.24438095092773438, 4.197720050811768], [-4.033450126647949, 0.24438095092773438, 4.197720050811768], [-3.783450126647949, 0.24438095092773438, 4.197720050811768], [-3.533450126647949, 0.24438095092773438, 4.197720050811768], [-3.283450126647949, 0.24438095092773438, 4.197720050811768], [-3.033450126647949, 0.24438095092773438, 4.197720050811768], [-2.8566734790802, 0.24438095092773438, 4.374496936798096], [-2.679896831512451, 0.24438095092773438, 4.551273822784424], [-2.503120183944702, 0.24438095092773438, 4.728050708770752], [-2.326343536376953, 0.24438095092773438, 4.90482759475708], [-2.149566888809204, 0.24438095092773438, 5.081604480743408], [-1.972790241241455, 0.24438095092773438, 5.258381366729736], [-1.796013593673706, 0.24438095092773438, 5.4351582527160645], [-1.619236946105957, 0.24438095092773438, 5.611935138702393], [-1.442460298538208, 0.24438095092773438, 5.788712024688721], [-1.317460298538208, 0.24438095092773438, 6.005218505859375], [-1.192460298538208, 0.24438095092773438, 6.221724987030029], [-1.067460298538208, 0.24438095092773438, 6.438231468200684], [-0.942460298538208, 0.24438095092773438, 6.654737949371338], [-0.7656835913658142, 0.24438095092773438, 6.831514835357666], [-0.5242021083831787, 0.24438095092773438, 6.896219730377197], [-0.2827206254005432, 0.24438095092773438, 6.9609246253967285], [-0.041239142417907715, 0.24438095092773438, 7.02562952041626], [0.20024234056472778, 0.24438095092773438, 7.090334415435791], [0.4417238235473633, 0.24438095092773438, 7.155039310455322], [0.6832053065299988, 0.24438095092773438, 7.2197442054748535], [0.9246867895126343, 0.24438095092773438, 7.284449100494385], [1.166168212890625, 0.24438095092773438, 7.349153995513916], [1.291168212890625, 0.24438095092773438, 7.56566047668457], [1.416168212890625, 0.24438095092773438, 7.782166957855225], [1.541168212890625, 0.24438095092773438, 7.998673439025879], [1.666168212890625, 0.24438095092773438, 8.215179443359375], [1.791168212890625, 0.24438095092773438, 8.431685447692871], [1.916168212890625, 0.24438095092773438, 8.648191452026367], [2.041168212890625, 0.24438095092773438, 8.864697456359863], [2.166168212890625, 0.24438095092773438, 9.08120346069336], [2.291168212890625, 0.24438095092773438, 9.297709465026855], [2.416168212890625, 0.24438095092773438, 9.514215469360352], [2.541168212890625, 0.24438095092773438, 9.730721473693848], [2.666168212890625, 0.24438095092773438, 9.947227478027344], [2.791168212890625, 0.24438095092773438, 10.16373348236084], [2.916168212890625, 0.24438095092773438, 10.380239486694336], [2.980872869491577, 0.24438095092773438, 10.621721267700195], [3.0455775260925293, 0.24438095092773438, 10.863203048706055], [3.1102821826934814, 0.24438095092773438, 11.104684829711914]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 542, "episode_id": "543", "scene_id": "E9uDoFAP3SH", "instruction": "Go straight until you get to the round table then turn slightly right and walk toward the stairs. After you pass the stairs wait there. ", "start_position": [-6.533450126647949, 0.24438095092773438, 4.197720050811768], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [3.2646100521087646, 0.24438095092773438, 11.371800422668457], "goal_radius": 3.0, "reference_path": "[[-6.533450126647949, 0.24438095092773438, 4.197720050811768], [-2.7539899349212646, 0.24438095092773438, 4.17917013168335], [-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [1.5841200351715088, 0.24438095092773438, 7.353169918060303], [3.2646100521087646, 0.24438095092773438, 11.371800422668457]]", "geodesic_distance": 12.324288368225098, "gt_locations": "[[-6.533450126647949, 0.24438095092773438, 4.197720050811768], [-6.283450126647949, 0.24438095092773438, 4.197720050811768], [-6.033450126647949, 0.24438095092773438, 4.197720050811768], [-5.783450126647949, 0.24438095092773438, 4.197720050811768], [-5.533450126647949, 0.24438095092773438, 4.197720050811768], [-5.283450126647949, 0.24438095092773438, 4.197720050811768], [-5.033450126647949, 0.24438095092773438, 4.197720050811768], [-4.783450126647949, 0.24438095092773438, 4.197720050811768], [-4.533450126647949, 0.24438095092773438, 4.197720050811768], [-4.283450126647949, 0.24438095092773438, 4.197720050811768], [-4.033450126647949, 0.24438095092773438, 4.197720050811768], [-3.783450126647949, 0.24438095092773438, 4.197720050811768], [-3.533450126647949, 0.24438095092773438, 4.197720050811768], [-3.283450126647949, 0.24438095092773438, 4.197720050811768], [-3.033450126647949, 0.24438095092773438, 4.197720050811768], [-2.8566734790802, 0.24438095092773438, 4.374496936798096], [-2.679896831512451, 0.24438095092773438, 4.551273822784424], [-2.503120183944702, 0.24438095092773438, 4.728050708770752], [-2.326343536376953, 0.24438095092773438, 4.90482759475708], [-2.149566888809204, 0.24438095092773438, 5.081604480743408], [-1.972790241241455, 0.24438095092773438, 5.258381366729736], [-1.796013593673706, 0.24438095092773438, 5.4351582527160645], [-1.619236946105957, 0.24438095092773438, 5.611935138702393], [-1.442460298538208, 0.24438095092773438, 5.788712024688721], [-1.317460298538208, 0.24438095092773438, 6.005218505859375], [-1.192460298538208, 0.24438095092773438, 6.221724987030029], [-1.067460298538208, 0.24438095092773438, 6.438231468200684], [-0.942460298538208, 0.24438095092773438, 6.654737949371338], [-0.7656835913658142, 0.24438095092773438, 6.831514835357666], [-0.5242021083831787, 0.24438095092773438, 6.896219730377197], [-0.2827206254005432, 0.24438095092773438, 6.9609246253967285], [-0.041239142417907715, 0.24438095092773438, 7.02562952041626], [0.20024234056472778, 0.24438095092773438, 7.090334415435791], [0.4417238235473633, 0.24438095092773438, 7.155039310455322], [0.6832053065299988, 0.24438095092773438, 7.2197442054748535], [0.9246867895126343, 0.24438095092773438, 7.284449100494385], [1.166168212890625, 0.24438095092773438, 7.349153995513916], [1.291168212890625, 0.24438095092773438, 7.56566047668457], [1.416168212890625, 0.24438095092773438, 7.782166957855225], [1.541168212890625, 0.24438095092773438, 7.998673439025879], [1.666168212890625, 0.24438095092773438, 8.215179443359375], [1.791168212890625, 0.24438095092773438, 8.431685447692871], [1.916168212890625, 0.24438095092773438, 8.648191452026367], [2.041168212890625, 0.24438095092773438, 8.864697456359863], [2.166168212890625, 0.24438095092773438, 9.08120346069336], [2.291168212890625, 0.24438095092773438, 9.297709465026855], [2.416168212890625, 0.24438095092773438, 9.514215469360352], [2.541168212890625, 0.24438095092773438, 9.730721473693848], [2.666168212890625, 0.24438095092773438, 9.947227478027344], [2.791168212890625, 0.24438095092773438, 10.16373348236084], [2.916168212890625, 0.24438095092773438, 10.380239486694336], [2.980872869491577, 0.24438095092773438, 10.621721267700195], [3.0455775260925293, 0.24438095092773438, 10.863203048706055], [3.1102821826934814, 0.24438095092773438, 11.104684829711914]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 543, "episode_id": "544", "scene_id": "E9uDoFAP3SH", "instruction": "Exit current room and walk past staircase and wait by first door next to the left stair case. ", "start_position": [-6.533450126647949, 0.24438095092773438, 4.197720050811768], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [3.2646100521087646, 0.24438095092773438, 11.371800422668457], "goal_radius": 3.0, "reference_path": "[[-6.533450126647949, 0.24438095092773438, 4.197720050811768], [-2.7539899349212646, 0.24438095092773438, 4.17917013168335], [-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [1.5841200351715088, 0.24438095092773438, 7.353169918060303], [3.2646100521087646, 0.24438095092773438, 11.371800422668457]]", "geodesic_distance": 12.324288368225098, "gt_locations": "[[-6.533450126647949, 0.24438095092773438, 4.197720050811768], [-6.283450126647949, 0.24438095092773438, 4.197720050811768], [-6.033450126647949, 0.24438095092773438, 4.197720050811768], [-5.783450126647949, 0.24438095092773438, 4.197720050811768], [-5.533450126647949, 0.24438095092773438, 4.197720050811768], [-5.283450126647949, 0.24438095092773438, 4.197720050811768], [-5.033450126647949, 0.24438095092773438, 4.197720050811768], [-4.783450126647949, 0.24438095092773438, 4.197720050811768], [-4.533450126647949, 0.24438095092773438, 4.197720050811768], [-4.283450126647949, 0.24438095092773438, 4.197720050811768], [-4.033450126647949, 0.24438095092773438, 4.197720050811768], [-3.783450126647949, 0.24438095092773438, 4.197720050811768], [-3.533450126647949, 0.24438095092773438, 4.197720050811768], [-3.283450126647949, 0.24438095092773438, 4.197720050811768], [-3.033450126647949, 0.24438095092773438, 4.197720050811768], [-2.8566734790802, 0.24438095092773438, 4.374496936798096], [-2.679896831512451, 0.24438095092773438, 4.551273822784424], [-2.503120183944702, 0.24438095092773438, 4.728050708770752], [-2.326343536376953, 0.24438095092773438, 4.90482759475708], [-2.149566888809204, 0.24438095092773438, 5.081604480743408], [-1.972790241241455, 0.24438095092773438, 5.258381366729736], [-1.796013593673706, 0.24438095092773438, 5.4351582527160645], [-1.619236946105957, 0.24438095092773438, 5.611935138702393], [-1.442460298538208, 0.24438095092773438, 5.788712024688721], [-1.317460298538208, 0.24438095092773438, 6.005218505859375], [-1.192460298538208, 0.24438095092773438, 6.221724987030029], [-1.067460298538208, 0.24438095092773438, 6.438231468200684], [-0.942460298538208, 0.24438095092773438, 6.654737949371338], [-0.7656835913658142, 0.24438095092773438, 6.831514835357666], [-0.5242021083831787, 0.24438095092773438, 6.896219730377197], [-0.2827206254005432, 0.24438095092773438, 6.9609246253967285], [-0.041239142417907715, 0.24438095092773438, 7.02562952041626], [0.20024234056472778, 0.24438095092773438, 7.090334415435791], [0.4417238235473633, 0.24438095092773438, 7.155039310455322], [0.6832053065299988, 0.24438095092773438, 7.2197442054748535], [0.9246867895126343, 0.24438095092773438, 7.284449100494385], [1.166168212890625, 0.24438095092773438, 7.349153995513916], [1.291168212890625, 0.24438095092773438, 7.56566047668457], [1.416168212890625, 0.24438095092773438, 7.782166957855225], [1.541168212890625, 0.24438095092773438, 7.998673439025879], [1.666168212890625, 0.24438095092773438, 8.215179443359375], [1.791168212890625, 0.24438095092773438, 8.431685447692871], [1.916168212890625, 0.24438095092773438, 8.648191452026367], [2.041168212890625, 0.24438095092773438, 8.864697456359863], [2.166168212890625, 0.24438095092773438, 9.08120346069336], [2.291168212890625, 0.24438095092773438, 9.297709465026855], [2.416168212890625, 0.24438095092773438, 9.514215469360352], [2.541168212890625, 0.24438095092773438, 9.730721473693848], [2.666168212890625, 0.24438095092773438, 9.947227478027344], [2.791168212890625, 0.24438095092773438, 10.16373348236084], [2.916168212890625, 0.24438095092773438, 10.380239486694336], [2.980872869491577, 0.24438095092773438, 10.621721267700195], [3.0455775260925293, 0.24438095092773438, 10.863203048706055], [3.1102821826934814, 0.24438095092773438, 11.104684829711914]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 544, "episode_id": "545", "scene_id": "rPc6DW4iMge", "instruction": "Leave the rooftop by heading downstairs.  Wait at the bottom of the stairway, directly in from of the two framed works of art. ", "start_position": [-0.6059749722480774, 3.3594281673431396, 12.30049991607666], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-1.0757700204849243, 0.6803373098373413, 4.694260120391846], "goal_radius": 3.0, "reference_path": "[[-0.6059749722480774, 3.3594281673431396, 12.30049991607666], [0.02748899906873703, 3.1389763355255127, 9.98701000213623], [-1.0525599718093872, 3.011152982711792, 7.972280025482178], [-1.0280400514602661, 2.5951900482177734, 7.2529401779174805], [-1.0617599487304688, 1.3909505605697632, 5.686870098114014], [-1.0757700204849243, 0.6803373098373413, 4.694260120391846]]", "geodesic_distance": 8.511869430541992, "gt_locations": "[[-0.6059749722480774, 3.3594281673431396, 12.30049991607666], [-0.5412701964378357, 3.3466508388519287, 12.0590181350708], [-0.476565420627594, 3.317911148071289, 11.817536354064941], [-0.4118606448173523, 3.2891714572906494, 11.576054573059082], [-0.3471558690071106, 3.2604317665100098, 11.334572792053223], [-0.2824510931968689, 3.231691837310791, 11.093091011047363], [-0.2177463173866272, 3.2029521465301514, 10.851609230041504], [-0.1530415415763855, 3.1742124557495117, 10.610127449035645], [-0.0883367732167244, 3.159693717956543, 10.368645668029785], [-0.0883367732167244, 3.1544604301452637, 10.118645668029785], [-0.1530415415763855, 3.1535098552703857, 9.877163887023926], [-0.2177463173866272, 3.058511734008789, 9.635682106018066], [-0.27643662691116333, 2.959428071975708, 9.388185501098633], [-0.40143662691116333, 2.959428071975708, 9.171679496765137], [-0.5782133340835571, 2.959428071975708, 8.994902610778809], [-0.7549900412559509, 2.959428071975708, 8.81812572479248], [-0.8196948170661926, 2.959428071975708, 8.576643943786621], [-0.8843995928764343, 2.959428071975708, 8.335162162780762], [-0.949104368686676, 2.968005657196045, 8.093680381774902], [-0.949104368686676, 3.030311107635498, 7.843680381774902], [-0.949104368686676, 2.84127140045166, 7.593680381774902], [-0.949104368686676, 2.607435941696167, 7.343680381774902], [-0.949104368686676, 2.373600482940674, 7.093680381774902], [-0.949104368686676, 2.1785659790039062, 6.843680381774902], [-0.949104368686676, 2.0083532333374023, 6.593680381774902], [-0.949104368686676, 1.838140606880188, 6.343680381774902], [-0.949104368686676, 1.6679277420043945, 6.093680381774902], [-0.949104368686676, 1.497714877128601, 5.843680381774902], [-0.949104368686676, 1.3259344100952148, 5.593680381774902], [-0.949104368686676, 1.1473629474639893, 5.343680381774902], [-0.949104368686676, 0.9675347208976746, 5.093680381774902], [-0.949104368686676, 0.7857165932655334, 4.843680381774902]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 545, "episode_id": "546", "scene_id": "rPc6DW4iMge", "instruction": "Turn right and walk down the view steps. Turn slightly left and enter the doorway. Walk down the stairs. Wait on the first few steps of the stairs from the bottom. ", "start_position": [-0.6059749722480774, 3.3594281673431396, 12.30049991607666], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-1.0757700204849243, 0.6803373098373413, 4.694260120391846], "goal_radius": 3.0, "reference_path": "[[-0.6059749722480774, 3.3594281673431396, 12.30049991607666], [0.02748899906873703, 3.1389763355255127, 9.98701000213623], [-1.0525599718093872, 3.011152982711792, 7.972280025482178], [-1.0280400514602661, 2.5951900482177734, 7.2529401779174805], [-1.0617599487304688, 1.3909505605697632, 5.686870098114014], [-1.0757700204849243, 0.6803373098373413, 4.694260120391846]]", "geodesic_distance": 8.511869430541992, "gt_locations": "[[-0.6059749722480774, 3.3594281673431396, 12.30049991607666], [-0.5412701964378357, 3.3466508388519287, 12.0590181350708], [-0.476565420627594, 3.317911148071289, 11.817536354064941], [-0.4118606448173523, 3.2891714572906494, 11.576054573059082], [-0.3471558690071106, 3.2604317665100098, 11.334572792053223], [-0.2824510931968689, 3.231691837310791, 11.093091011047363], [-0.2177463173866272, 3.2029521465301514, 10.851609230041504], [-0.1530415415763855, 3.1742124557495117, 10.610127449035645], [-0.0883367732167244, 3.159693717956543, 10.368645668029785], [-0.0883367732167244, 3.1544604301452637, 10.118645668029785], [-0.1530415415763855, 3.1535098552703857, 9.877163887023926], [-0.2177463173866272, 3.058511734008789, 9.635682106018066], [-0.27643662691116333, 2.959428071975708, 9.388185501098633], [-0.40143662691116333, 2.959428071975708, 9.171679496765137], [-0.5782133340835571, 2.959428071975708, 8.994902610778809], [-0.7549900412559509, 2.959428071975708, 8.81812572479248], [-0.8196948170661926, 2.959428071975708, 8.576643943786621], [-0.8843995928764343, 2.959428071975708, 8.335162162780762], [-0.949104368686676, 2.968005657196045, 8.093680381774902], [-0.949104368686676, 3.030311107635498, 7.843680381774902], [-0.949104368686676, 2.84127140045166, 7.593680381774902], [-0.949104368686676, 2.607435941696167, 7.343680381774902], [-0.949104368686676, 2.373600482940674, 7.093680381774902], [-0.949104368686676, 2.1785659790039062, 6.843680381774902], [-0.949104368686676, 2.0083532333374023, 6.593680381774902], [-0.949104368686676, 1.838140606880188, 6.343680381774902], [-0.949104368686676, 1.6679277420043945, 6.093680381774902], [-0.949104368686676, 1.497714877128601, 5.843680381774902], [-0.949104368686676, 1.3259344100952148, 5.593680381774902], [-0.949104368686676, 1.1473629474639893, 5.343680381774902], [-0.949104368686676, 0.9675347208976746, 5.093680381774902], [-0.949104368686676, 0.7857165932655334, 4.843680381774902]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 546, "episode_id": "547", "scene_id": "rPc6DW4iMge", "instruction": "Walk towards the air conditioning units. Turn slight left and walk down the stairway. Wait by the crab picture. ", "start_position": [-0.6059749722480774, 3.3594281673431396, 12.30049991607666], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-1.0757700204849243, 0.6803373098373413, 4.694260120391846], "goal_radius": 3.0, "reference_path": "[[-0.6059749722480774, 3.3594281673431396, 12.30049991607666], [0.02748899906873703, 3.1389763355255127, 9.98701000213623], [-1.0525599718093872, 3.011152982711792, 7.972280025482178], [-1.0280400514602661, 2.5951900482177734, 7.2529401779174805], [-1.0617599487304688, 1.3909505605697632, 5.686870098114014], [-1.0757700204849243, 0.6803373098373413, 4.694260120391846]]", "geodesic_distance": 8.511869430541992, "gt_locations": "[[-0.6059749722480774, 3.3594281673431396, 12.30049991607666], [-0.5412701964378357, 3.3466508388519287, 12.0590181350708], [-0.476565420627594, 3.317911148071289, 11.817536354064941], [-0.4118606448173523, 3.2891714572906494, 11.576054573059082], [-0.3471558690071106, 3.2604317665100098, 11.334572792053223], [-0.2824510931968689, 3.231691837310791, 11.093091011047363], [-0.2177463173866272, 3.2029521465301514, 10.851609230041504], [-0.1530415415763855, 3.1742124557495117, 10.610127449035645], [-0.0883367732167244, 3.159693717956543, 10.368645668029785], [-0.0883367732167244, 3.1544604301452637, 10.118645668029785], [-0.1530415415763855, 3.1535098552703857, 9.877163887023926], [-0.2177463173866272, 3.058511734008789, 9.635682106018066], [-0.27643662691116333, 2.959428071975708, 9.388185501098633], [-0.40143662691116333, 2.959428071975708, 9.171679496765137], [-0.5782133340835571, 2.959428071975708, 8.994902610778809], [-0.7549900412559509, 2.959428071975708, 8.81812572479248], [-0.8196948170661926, 2.959428071975708, 8.576643943786621], [-0.8843995928764343, 2.959428071975708, 8.335162162780762], [-0.949104368686676, 2.968005657196045, 8.093680381774902], [-0.949104368686676, 3.030311107635498, 7.843680381774902], [-0.949104368686676, 2.84127140045166, 7.593680381774902], [-0.949104368686676, 2.607435941696167, 7.343680381774902], [-0.949104368686676, 2.373600482940674, 7.093680381774902], [-0.949104368686676, 2.1785659790039062, 6.843680381774902], [-0.949104368686676, 2.0083532333374023, 6.593680381774902], [-0.949104368686676, 1.838140606880188, 6.343680381774902], [-0.949104368686676, 1.6679277420043945, 6.093680381774902], [-0.949104368686676, 1.497714877128601, 5.843680381774902], [-0.949104368686676, 1.3259344100952148, 5.593680381774902], [-0.949104368686676, 1.1473629474639893, 5.343680381774902], [-0.949104368686676, 0.9675347208976746, 5.093680381774902], [-0.949104368686676, 0.7857165932655334, 4.843680381774902]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 2, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 547, "episode_id": "548", "scene_id": "PX4nDJXEHrG", "instruction": "Go to the bear rug on the floor. Go to the top of the staircase. Go to the toilet. ", "start_position": [-4.906620025634766, 3.115546703338623, -3.2272400856018066], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-14.567899703979492, 3.115546703338623, -7.122529983520508], "goal_radius": 3.0, "reference_path": "[[-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-6.302649974822998, 3.115546703338623, -3.1158199310302734], [-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-11.55270004272461, 3.115546703338623, -3.250430107116699], [-12.96780014038086, 3.115546703338623, -5.544410228729248], [-13.952699661254883, 3.115546703338623, -7.167079925537109], [-14.567899703979492, 3.115546703338623, -7.122529983520508]]", "geodesic_distance": 12.012240409851074, "gt_locations": "[[-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-5.156620025634766, 3.115546703338623, -3.2272400856018066], [-5.406620025634766, 3.115546703338623, -3.2272400856018066], [-5.656620025634766, 3.115546703338623, -3.2272400856018066], [-5.898101329803467, 3.115546703338623, -3.1625354290008545], [-6.139582633972168, 3.115546703338623, -3.0978307723999023], [-6.381063938140869, 3.115546703338623, -3.03312611579895], [-6.62254524230957, 3.115546703338623, -2.968421459197998], [-6.8640265464782715, 3.115546703338623, -2.903716802597046], [-7.105507850646973, 3.115546703338623, -2.8390121459960938], [-7.346989154815674, 3.115546703338623, -2.7743074893951416], [-7.588470458984375, 3.115546703338623, -2.7096028327941895], [-7.829951763153076, 3.115546703338623, -2.6448981761932373], [-8.071433067321777, 3.115546703338623, -2.580193519592285], [-8.312914848327637, 3.115546703338623, -2.515488862991333], [-8.529420852661133, 3.115546703338623, -2.390488862991333], [-8.745926856994629, 3.115546703338623, -2.265488862991333], [-8.987408638000488, 3.115546703338623, -2.2007839679718018], [-9.228890419006348, 3.115546703338623, -2.265488624572754], [-9.470372200012207, 3.115546703338623, -2.330193281173706], [-9.720372200012207, 3.115546703338623, -2.330193281173706], [-9.970372200012207, 3.115546703338623, -2.330193281173706], [-10.220372200012207, 3.115546703338623, -2.330193281173706], [-10.461853981018066, 3.115546703338623, -2.394897937774658], [-10.703335762023926, 3.115546703338623, -2.4596025943756104], [-10.944817543029785, 3.115546703338623, -2.5243072509765625], [-11.140756607055664, 3.115546703338623, -2.6883091926574707], [-11.317533493041992, 3.115546703338623, -2.8650858402252197], [-11.442533493041992, 3.115546703338623, -3.081592082977295], [-11.567533493041992, 3.115546703338623, -3.29809832572937], [-11.692533493041992, 3.115546703338623, -3.5146045684814453], [-11.817533493041992, 3.115546703338623, -3.7311108112335205], [-11.942533493041992, 3.115546703338623, -3.9476170539855957], [-12.067533493041992, 3.115546703338623, -4.16412353515625], [-12.192533493041992, 3.115546703338623, -4.380630016326904], [-12.36931037902832, 3.115546703338623, -4.557406902313232], [-12.49431037902832, 3.115546703338623, -4.773913383483887], [-12.61931037902832, 3.115546703338623, -4.990419864654541], [-12.74431037902832, 3.115546703338623, -5.206926345825195], [-12.86931037902832, 3.115546703338623, -5.42343282699585], [-12.99431037902832, 3.115546703338623, -5.639939308166504], [-13.11931037902832, 3.115546703338623, -5.856445789337158], [-13.24431037902832, 3.115546703338623, -6.0729522705078125], [-13.36931037902832, 3.115546703338623, -6.289458751678467], [-13.49431037902832, 3.115546703338623, -6.505965232849121], [-13.61931037902832, 3.115546703338623, -6.722471714019775], [-13.74431037902832, 3.115546703338623, -6.93897819519043], [-13.98579216003418, 3.115546703338623, -7.003683090209961], [-14.227273941040039, 3.115546703338623, -7.068387985229492]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 0]"}
{"id": 548, "episode_id": "549", "scene_id": "PX4nDJXEHrG", "instruction": "Exit bedroom, walk straight turning right at stairwell and enter bathroom on the left. Wait at toilet. ", "start_position": [-4.906620025634766, 3.115546703338623, -3.2272400856018066], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-14.567899703979492, 3.115546703338623, -7.122529983520508], "goal_radius": 3.0, "reference_path": "[[-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-6.302649974822998, 3.115546703338623, -3.1158199310302734], [-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-11.55270004272461, 3.115546703338623, -3.250430107116699], [-12.96780014038086, 3.115546703338623, -5.544410228729248], [-13.952699661254883, 3.115546703338623, -7.167079925537109], [-14.567899703979492, 3.115546703338623, -7.122529983520508]]", "geodesic_distance": 12.012240409851074, "gt_locations": "[[-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-5.156620025634766, 3.115546703338623, -3.2272400856018066], [-5.406620025634766, 3.115546703338623, -3.2272400856018066], [-5.656620025634766, 3.115546703338623, -3.2272400856018066], [-5.898101329803467, 3.115546703338623, -3.1625354290008545], [-6.139582633972168, 3.115546703338623, -3.0978307723999023], [-6.381063938140869, 3.115546703338623, -3.03312611579895], [-6.62254524230957, 3.115546703338623, -2.968421459197998], [-6.8640265464782715, 3.115546703338623, -2.903716802597046], [-7.105507850646973, 3.115546703338623, -2.8390121459960938], [-7.346989154815674, 3.115546703338623, -2.7743074893951416], [-7.588470458984375, 3.115546703338623, -2.7096028327941895], [-7.829951763153076, 3.115546703338623, -2.6448981761932373], [-8.071433067321777, 3.115546703338623, -2.580193519592285], [-8.312914848327637, 3.115546703338623, -2.515488862991333], [-8.529420852661133, 3.115546703338623, -2.390488862991333], [-8.745926856994629, 3.115546703338623, -2.265488862991333], [-8.987408638000488, 3.115546703338623, -2.2007839679718018], [-9.228890419006348, 3.115546703338623, -2.265488624572754], [-9.470372200012207, 3.115546703338623, -2.330193281173706], [-9.720372200012207, 3.115546703338623, -2.330193281173706], [-9.970372200012207, 3.115546703338623, -2.330193281173706], [-10.220372200012207, 3.115546703338623, -2.330193281173706], [-10.461853981018066, 3.115546703338623, -2.394897937774658], [-10.703335762023926, 3.115546703338623, -2.4596025943756104], [-10.944817543029785, 3.115546703338623, -2.5243072509765625], [-11.140756607055664, 3.115546703338623, -2.6883091926574707], [-11.317533493041992, 3.115546703338623, -2.8650858402252197], [-11.442533493041992, 3.115546703338623, -3.081592082977295], [-11.567533493041992, 3.115546703338623, -3.29809832572937], [-11.692533493041992, 3.115546703338623, -3.5146045684814453], [-11.817533493041992, 3.115546703338623, -3.7311108112335205], [-11.942533493041992, 3.115546703338623, -3.9476170539855957], [-12.067533493041992, 3.115546703338623, -4.16412353515625], [-12.192533493041992, 3.115546703338623, -4.380630016326904], [-12.36931037902832, 3.115546703338623, -4.557406902313232], [-12.49431037902832, 3.115546703338623, -4.773913383483887], [-12.61931037902832, 3.115546703338623, -4.990419864654541], [-12.74431037902832, 3.115546703338623, -5.206926345825195], [-12.86931037902832, 3.115546703338623, -5.42343282699585], [-12.99431037902832, 3.115546703338623, -5.639939308166504], [-13.11931037902832, 3.115546703338623, -5.856445789337158], [-13.24431037902832, 3.115546703338623, -6.0729522705078125], [-13.36931037902832, 3.115546703338623, -6.289458751678467], [-13.49431037902832, 3.115546703338623, -6.505965232849121], [-13.61931037902832, 3.115546703338623, -6.722471714019775], [-13.74431037902832, 3.115546703338623, -6.93897819519043], [-13.98579216003418, 3.115546703338623, -7.003683090209961], [-14.227273941040039, 3.115546703338623, -7.068387985229492]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 0]"}
{"id": 549, "episode_id": "550", "scene_id": "PX4nDJXEHrG", "instruction": "Turn around and exit the bedroom. Walk to the other side of the room past the stairs. Once you reach the other side, turn right and enter the double doors. Walk into the small hallway and then enter the first door on your left. Once in, stop in front of the shower stall on your right. ", "start_position": [-4.906620025634766, 3.115546703338623, -3.2272400856018066], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-14.567899703979492, 3.115546703338623, -7.122529983520508], "goal_radius": 3.0, "reference_path": "[[-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-6.302649974822998, 3.115546703338623, -3.1158199310302734], [-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-11.55270004272461, 3.115546703338623, -3.250430107116699], [-12.96780014038086, 3.115546703338623, -5.544410228729248], [-13.952699661254883, 3.115546703338623, -7.167079925537109], [-14.567899703979492, 3.115546703338623, -7.122529983520508]]", "geodesic_distance": 12.012240409851074, "gt_locations": "[[-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-5.156620025634766, 3.115546703338623, -3.2272400856018066], [-5.406620025634766, 3.115546703338623, -3.2272400856018066], [-5.656620025634766, 3.115546703338623, -3.2272400856018066], [-5.898101329803467, 3.115546703338623, -3.1625354290008545], [-6.139582633972168, 3.115546703338623, -3.0978307723999023], [-6.381063938140869, 3.115546703338623, -3.03312611579895], [-6.62254524230957, 3.115546703338623, -2.968421459197998], [-6.8640265464782715, 3.115546703338623, -2.903716802597046], [-7.105507850646973, 3.115546703338623, -2.8390121459960938], [-7.346989154815674, 3.115546703338623, -2.7743074893951416], [-7.588470458984375, 3.115546703338623, -2.7096028327941895], [-7.829951763153076, 3.115546703338623, -2.6448981761932373], [-8.071433067321777, 3.115546703338623, -2.580193519592285], [-8.312914848327637, 3.115546703338623, -2.515488862991333], [-8.529420852661133, 3.115546703338623, -2.390488862991333], [-8.745926856994629, 3.115546703338623, -2.265488862991333], [-8.987408638000488, 3.115546703338623, -2.2007839679718018], [-9.228890419006348, 3.115546703338623, -2.265488624572754], [-9.470372200012207, 3.115546703338623, -2.330193281173706], [-9.720372200012207, 3.115546703338623, -2.330193281173706], [-9.970372200012207, 3.115546703338623, -2.330193281173706], [-10.220372200012207, 3.115546703338623, -2.330193281173706], [-10.461853981018066, 3.115546703338623, -2.394897937774658], [-10.703335762023926, 3.115546703338623, -2.4596025943756104], [-10.944817543029785, 3.115546703338623, -2.5243072509765625], [-11.140756607055664, 3.115546703338623, -2.6883091926574707], [-11.317533493041992, 3.115546703338623, -2.8650858402252197], [-11.442533493041992, 3.115546703338623, -3.081592082977295], [-11.567533493041992, 3.115546703338623, -3.29809832572937], [-11.692533493041992, 3.115546703338623, -3.5146045684814453], [-11.817533493041992, 3.115546703338623, -3.7311108112335205], [-11.942533493041992, 3.115546703338623, -3.9476170539855957], [-12.067533493041992, 3.115546703338623, -4.16412353515625], [-12.192533493041992, 3.115546703338623, -4.380630016326904], [-12.36931037902832, 3.115546703338623, -4.557406902313232], [-12.49431037902832, 3.115546703338623, -4.773913383483887], [-12.61931037902832, 3.115546703338623, -4.990419864654541], [-12.74431037902832, 3.115546703338623, -5.206926345825195], [-12.86931037902832, 3.115546703338623, -5.42343282699585], [-12.99431037902832, 3.115546703338623, -5.639939308166504], [-13.11931037902832, 3.115546703338623, -5.856445789337158], [-13.24431037902832, 3.115546703338623, -6.0729522705078125], [-13.36931037902832, 3.115546703338623, -6.289458751678467], [-13.49431037902832, 3.115546703338623, -6.505965232849121], [-13.61931037902832, 3.115546703338623, -6.722471714019775], [-13.74431037902832, 3.115546703338623, -6.93897819519043], [-13.98579216003418, 3.115546703338623, -7.003683090209961], [-14.227273941040039, 3.115546703338623, -7.068387985229492]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 3, 3, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 0]"}
{"id": 550, "episode_id": "551", "scene_id": "VFuaQ6m2Qom", "instruction": "Walk across patio, stop at hanging basket chair. ", "start_position": [-13.493599891662598, 0.05781888961791992, -17.61079978942871], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.1463499069213867, 0.05781888961791992, -19.9689998626709], "goal_radius": 3.0, "reference_path": "[[-13.493599891662598, 0.05781888961791992, -17.61079978942871], [-11.791000366210938, 0.05781888961791992, -17.04800033569336], [-8.5281400680542, 0.05781888961791992, -17.318899154663086], [-6.504429817199707, 0.05781888961791992, -17.967100143432617], [-4.386449813842773, 0.05781888961791992, -18.960399627685547], [-2.1463499069213867, 0.05781888961791992, -19.9689998626709]]", "geodesic_distance": 14.532719612121582, "gt_locations": "[[-13.493599891662598, 0.05781888961791992, -17.61079978942871], [-13.243599891662598, 0.05781888961791992, -17.61079978942871], [-12.993599891662598, 0.05781888961791992, -17.61079978942871], [-12.752118110656738, 0.05781888961791992, -17.54609489440918], [-12.510636329650879, 0.05781888961791992, -17.48138999938965], [-12.260636329650879, 0.05781888961791992, -17.48138999938965], [-12.044130325317383, 0.05781888961791992, -17.35638999938965], [-11.979425430297852, 0.05781888961791992, -17.11490821838379], [-11.91472053527832, 0.05781888961791992, -16.87342643737793], [-11.78972053527832, 0.05781888961791992, -16.656919479370117], [-11.725015640258789, 0.05781888961791992, -16.415437698364258], [-11.660310745239258, 0.05781888961791992, -16.1739559173584], [-11.595605850219727, 0.05781888961791992, -15.932474136352539], [-11.530900955200195, 0.05781888961791992, -15.69099235534668], [-11.466196060180664, 0.05781888961791992, -15.44951057434082], [-11.342972755432129, 0.05781888961791992, -15.22856330871582], [-11.126466751098633, 0.05781888961791992, -15.10356330871582], [-10.876466751098633, 0.05781888961791992, -15.10356330871582], [-10.626466751098633, 0.05781888961791992, -15.10356330871582], [-10.376466751098633, 0.05781888961791992, -15.10356330871582], [-10.139762878417969, 0.05781888961791992, -15.21509838104248], [-9.96298599243164, 0.05781888961791992, -15.391875267028809], [-9.786209106445312, 0.05781888961791992, -15.568652153015137], [-9.609432220458984, 0.05781888961791992, -15.745429039001465], [-9.484432220458984, 0.05781888961791992, -15.961935043334961], [-9.359432220458984, 0.05781888961791992, -16.178442001342773], [-9.234432220458984, 0.05781888961791992, -16.394948959350586], [-9.109432220458984, 0.05781888961791992, -16.6114559173584], [-8.984432220458984, 0.05781888961791992, -16.82796287536621], [-8.807655334472656, 0.05781888961791992, -17.00473976135254], [-8.630878448486328, 0.05781888961791992, -17.181516647338867], [-8.414372444152832, 0.05781888961791992, -17.306516647338867], [-8.197866439819336, 0.05781888961791992, -17.431516647338867], [-8.021089553833008, 0.05781888961791992, -17.608293533325195], [-7.84431266784668, 0.05781888961791992, -17.785070419311523], [-7.6028313636779785, 0.05781888961791992, -17.849775314331055], [-7.361350059509277, 0.05781888961791992, -17.914480209350586], [-7.111350059509277, 0.05781888961791992, -17.914480209350586], [-6.861350059509277, 0.05781888961791992, -17.914480209350586], [-6.619868755340576, 0.05781888961791992, -17.979185104370117], [-6.378387451171875, 0.05781888961791992, -18.04388999938965], [-6.136906147003174, 0.05781888961791992, -18.10859489440918], [-5.9203996658325195, 0.05781888961791992, -18.23359489440918], [-5.703893184661865, 0.05781888961791992, -18.35859489440918], [-5.487386703491211, 0.05781888961791992, -18.48359489440918], [-5.270880222320557, 0.05781888961791992, -18.60859489440918], [-5.054373741149902, 0.05781888961791992, -18.73359489440918], [-4.812892436981201, 0.05781888961791992, -18.79829978942871], [-4.5714111328125, 0.05781888961791992, -18.863004684448242], [-4.329929828643799, 0.05781888961791992, -18.927709579467773], [-4.1134233474731445, 0.05781888961791992, -19.052709579467773], [-3.8969171047210693, 0.05781888961791992, -19.177709579467773], [-3.680410861968994, 0.05781888961791992, -19.302709579467773], [-3.463904619216919, 0.05781888961791992, -19.427709579467773], [-3.2473983764648438, 0.05781888961791992, -19.552709579467773], [-3.0308921337127686, 0.05781888961791992, -19.677709579467773], [-2.7894105911254883, 0.05781888961791992, -19.742414474487305], [-2.547929048538208, 0.05781888961791992, -19.807119369506836]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 2, 2, 1, 1, 1, 2, 2, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 2, 1, 1, 3, 3, 1, 1, 3, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 551, "episode_id": "552", "scene_id": "VFuaQ6m2Qom", "instruction": "Walk past the concrete fire pit with ceramic pots on top. Continue down the porch area past the first sofa and continue past the next set of sofas. Continue down the porch and walk past the potted plants towards the lighted sitting area ahead. 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{"id": 552, "episode_id": "553", "scene_id": "VFuaQ6m2Qom", "instruction": "Turn right and walk across the patio area past the sofas keeping the house to your right. Wait just before the entrance to the house on the right. ", "start_position": [-13.493599891662598, 0.05781888961791992, -17.61079978942871], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.1463499069213867, 0.05781888961791992, -19.9689998626709], "goal_radius": 3.0, "reference_path": "[[-13.493599891662598, 0.05781888961791992, -17.61079978942871], [-11.791000366210938, 0.05781888961791992, -17.04800033569336], [-8.5281400680542, 0.05781888961791992, -17.318899154663086], [-6.504429817199707, 0.05781888961791992, -17.967100143432617], [-4.386449813842773, 0.05781888961791992, -18.960399627685547], [-2.1463499069213867, 0.05781888961791992, -19.9689998626709]]", "geodesic_distance": 14.532719612121582, "gt_locations": "[[-13.493599891662598, 0.05781888961791992, -17.61079978942871], [-13.243599891662598, 0.05781888961791992, -17.61079978942871], [-12.993599891662598, 0.05781888961791992, -17.61079978942871], [-12.752118110656738, 0.05781888961791992, -17.54609489440918], [-12.510636329650879, 0.05781888961791992, -17.48138999938965], [-12.260636329650879, 0.05781888961791992, -17.48138999938965], [-12.044130325317383, 0.05781888961791992, -17.35638999938965], [-11.979425430297852, 0.05781888961791992, -17.11490821838379], [-11.91472053527832, 0.05781888961791992, -16.87342643737793], [-11.78972053527832, 0.05781888961791992, -16.656919479370117], [-11.725015640258789, 0.05781888961791992, -16.415437698364258], [-11.660310745239258, 0.05781888961791992, -16.1739559173584], [-11.595605850219727, 0.05781888961791992, -15.932474136352539], [-11.530900955200195, 0.05781888961791992, -15.69099235534668], [-11.466196060180664, 0.05781888961791992, -15.44951057434082], [-11.342972755432129, 0.05781888961791992, -15.22856330871582], [-11.126466751098633, 0.05781888961791992, -15.10356330871582], [-10.876466751098633, 0.05781888961791992, -15.10356330871582], [-10.626466751098633, 0.05781888961791992, -15.10356330871582], [-10.376466751098633, 0.05781888961791992, -15.10356330871582], [-10.139762878417969, 0.05781888961791992, -15.21509838104248], [-9.96298599243164, 0.05781888961791992, -15.391875267028809], [-9.786209106445312, 0.05781888961791992, -15.568652153015137], [-9.609432220458984, 0.05781888961791992, -15.745429039001465], [-9.484432220458984, 0.05781888961791992, -15.961935043334961], [-9.359432220458984, 0.05781888961791992, -16.178442001342773], [-9.234432220458984, 0.05781888961791992, -16.394948959350586], [-9.109432220458984, 0.05781888961791992, -16.6114559173584], [-8.984432220458984, 0.05781888961791992, -16.82796287536621], [-8.807655334472656, 0.05781888961791992, -17.00473976135254], [-8.630878448486328, 0.05781888961791992, -17.181516647338867], [-8.414372444152832, 0.05781888961791992, -17.306516647338867], [-8.197866439819336, 0.05781888961791992, -17.431516647338867], [-8.021089553833008, 0.05781888961791992, -17.608293533325195], [-7.84431266784668, 0.05781888961791992, -17.785070419311523], [-7.6028313636779785, 0.05781888961791992, -17.849775314331055], [-7.361350059509277, 0.05781888961791992, -17.914480209350586], [-7.111350059509277, 0.05781888961791992, -17.914480209350586], [-6.861350059509277, 0.05781888961791992, -17.914480209350586], [-6.619868755340576, 0.05781888961791992, -17.979185104370117], [-6.378387451171875, 0.05781888961791992, -18.04388999938965], [-6.136906147003174, 0.05781888961791992, -18.10859489440918], [-5.9203996658325195, 0.05781888961791992, -18.23359489440918], [-5.703893184661865, 0.05781888961791992, -18.35859489440918], [-5.487386703491211, 0.05781888961791992, -18.48359489440918], [-5.270880222320557, 0.05781888961791992, -18.60859489440918], [-5.054373741149902, 0.05781888961791992, -18.73359489440918], [-4.812892436981201, 0.05781888961791992, -18.79829978942871], [-4.5714111328125, 0.05781888961791992, -18.863004684448242], [-4.329929828643799, 0.05781888961791992, -18.927709579467773], [-4.1134233474731445, 0.05781888961791992, -19.052709579467773], [-3.8969171047210693, 0.05781888961791992, -19.177709579467773], [-3.680410861968994, 0.05781888961791992, -19.302709579467773], [-3.463904619216919, 0.05781888961791992, -19.427709579467773], [-3.2473983764648438, 0.05781888961791992, -19.552709579467773], [-3.0308921337127686, 0.05781888961791992, -19.677709579467773], [-2.7894105911254883, 0.05781888961791992, -19.742414474487305], [-2.547929048538208, 0.05781888961791992, -19.807119369506836]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 2, 1, 3, 3, 1, 3, 3, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 2, 1, 2, 2, 1, 2, 2, 1, 1, 1, 2, 2, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 2, 1, 1, 3, 3, 1, 1, 3, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 553, "episode_id": "554", "scene_id": "D7N2EKCX4Sj", "instruction": "Enter the hallway and take a left. Go straight and go right at the end of the hall. Enter the room with the bear, and walk into the hall straight across. Enter the bedroom that is the first door on the right. Stop in the doorway. 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{"id": 555, "episode_id": "556", "scene_id": "D7N2EKCX4Sj", "instruction": "Head forward toward stairs make a right, head forward, then make a slight right and enter bedroom, and wait. 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{"id": 556, "episode_id": "557", "scene_id": "JeFG25nYj2p", "instruction": "Exit bedroom and head straight toward living area, and wait at entrance. ", "start_position": [1.763450026512146, 0.09358400106430054, -5.030439853668213], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[1.763450026512146, 0.09358400106430054, -5.030439853668213], [1.051200032234192, 0.09358400106430054, -4.039979934692383], [1.0608500242233276, 0.09358400106430054, -3.1490700244903564], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [1.1511399745941162, 0.09358400106430054, -0.177374005317688], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 6.962170124053955, "gt_locations": "[[1.763450026512146, 0.09358400106430054, -5.030439853668213], [1.638450026512146, 0.09358400106430054, -4.813933372497559], [1.513450026512146, 0.09358400106430054, -4.597426891326904], [1.336673378944397, 0.09358400106430054, -4.420650005340576], [1.211673378944397, 0.09358400106430054, -4.204143524169922], [1.086673378944397, 0.09358400106430054, -3.9876370429992676], [1.0219686031341553, 0.09358400106430054, -3.7461557388305664], [1.0219686031341553, 0.09358400106430054, -3.4961557388305664], [1.086673378944397, 0.09358400106430054, -3.254674196243286], [1.086673378944397, 0.09358400106430054, -3.004674196243286], [1.1513781547546387, 0.09358400106430054, -2.763192653656006], [1.2160829305648804, 0.09358400106430054, -2.5217111110687256], [1.280787706375122, 0.09358400106430054, -2.2802295684814453], [1.3454924821853638, 0.09358400106430054, -2.038748025894165], [1.4101972579956055, 0.09358400106430054, -1.7972664833068848], [1.4101972579956055, 0.09358400106430054, -1.5472664833068848], [1.3454924821853638, 0.09358400106430054, -1.3057849407196045], [1.3454924821853638, 0.09358400106430054, -1.0557849407196045], [1.280787706375122, 0.09358400106430054, -0.814303457736969], [1.2160829305648804, 0.09358400106430054, -0.5728219747543335], [1.2160829305648804, 0.09358400106430054, -0.3228219747543335], [1.2160829305648804, 0.09358400106430054, -0.0728219747543335], [1.2160829305648804, 0.09358400106430054, 0.1771780252456665], [1.2160829305648804, 0.09358400106430054, 0.4271780252456665], [1.2160829305648804, 0.09358400106430054, 0.6771780252456665], [1.280787706375122, 0.09358400106430054, 0.918659508228302], [1.3454924821853638, 0.09358400106430054, 1.1601409912109375], [1.4101972579956055, 0.09358400106430054, 1.4016225337982178]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 2, 1, 1, 2, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 557, "episode_id": "558", "scene_id": "JeFG25nYj2p", "instruction": "Exit the bedroom and go straight through until at the brown double doorway and then stop. ", "start_position": [1.763450026512146, 0.09358400106430054, -5.030439853668213], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[1.763450026512146, 0.09358400106430054, -5.030439853668213], [1.051200032234192, 0.09358400106430054, -4.039979934692383], [1.0608500242233276, 0.09358400106430054, -3.1490700244903564], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [1.1511399745941162, 0.09358400106430054, -0.177374005317688], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 6.962170124053955, "gt_locations": "[[1.763450026512146, 0.09358400106430054, -5.030439853668213], [1.638450026512146, 0.09358400106430054, -4.813933372497559], [1.513450026512146, 0.09358400106430054, -4.597426891326904], [1.336673378944397, 0.09358400106430054, -4.420650005340576], [1.211673378944397, 0.09358400106430054, -4.204143524169922], [1.086673378944397, 0.09358400106430054, -3.9876370429992676], [1.0219686031341553, 0.09358400106430054, -3.7461557388305664], [1.0219686031341553, 0.09358400106430054, -3.4961557388305664], [1.086673378944397, 0.09358400106430054, -3.254674196243286], [1.086673378944397, 0.09358400106430054, -3.004674196243286], [1.1513781547546387, 0.09358400106430054, -2.763192653656006], [1.2160829305648804, 0.09358400106430054, -2.5217111110687256], [1.280787706375122, 0.09358400106430054, -2.2802295684814453], [1.3454924821853638, 0.09358400106430054, -2.038748025894165], [1.4101972579956055, 0.09358400106430054, -1.7972664833068848], [1.4101972579956055, 0.09358400106430054, -1.5472664833068848], [1.3454924821853638, 0.09358400106430054, -1.3057849407196045], [1.3454924821853638, 0.09358400106430054, -1.0557849407196045], [1.280787706375122, 0.09358400106430054, -0.814303457736969], [1.2160829305648804, 0.09358400106430054, -0.5728219747543335], [1.2160829305648804, 0.09358400106430054, -0.3228219747543335], [1.2160829305648804, 0.09358400106430054, -0.0728219747543335], [1.2160829305648804, 0.09358400106430054, 0.1771780252456665], [1.2160829305648804, 0.09358400106430054, 0.4271780252456665], [1.2160829305648804, 0.09358400106430054, 0.6771780252456665], [1.280787706375122, 0.09358400106430054, 0.918659508228302], [1.3454924821853638, 0.09358400106430054, 1.1601409912109375], [1.4101972579956055, 0.09358400106430054, 1.4016225337982178]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 2, 1, 1, 2, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 558, "episode_id": "559", "scene_id": "JeFG25nYj2p", "instruction": "Exit the room and head down the hallway.  Stop in front of the two chairs on the left. ", "start_position": [1.763450026512146, 0.09358400106430054, -5.030439853668213], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[1.763450026512146, 0.09358400106430054, -5.030439853668213], [1.051200032234192, 0.09358400106430054, -4.039979934692383], [1.0608500242233276, 0.09358400106430054, -3.1490700244903564], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [1.1511399745941162, 0.09358400106430054, -0.177374005317688], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 6.962170124053955, "gt_locations": "[[1.763450026512146, 0.09358400106430054, -5.030439853668213], [1.638450026512146, 0.09358400106430054, -4.813933372497559], [1.513450026512146, 0.09358400106430054, -4.597426891326904], [1.336673378944397, 0.09358400106430054, -4.420650005340576], [1.211673378944397, 0.09358400106430054, -4.204143524169922], [1.086673378944397, 0.09358400106430054, -3.9876370429992676], [1.0219686031341553, 0.09358400106430054, -3.7461557388305664], [1.0219686031341553, 0.09358400106430054, -3.4961557388305664], [1.086673378944397, 0.09358400106430054, -3.254674196243286], [1.086673378944397, 0.09358400106430054, -3.004674196243286], [1.1513781547546387, 0.09358400106430054, -2.763192653656006], [1.2160829305648804, 0.09358400106430054, -2.5217111110687256], [1.280787706375122, 0.09358400106430054, -2.2802295684814453], [1.3454924821853638, 0.09358400106430054, -2.038748025894165], [1.4101972579956055, 0.09358400106430054, -1.7972664833068848], [1.4101972579956055, 0.09358400106430054, -1.5472664833068848], [1.3454924821853638, 0.09358400106430054, -1.3057849407196045], [1.3454924821853638, 0.09358400106430054, -1.0557849407196045], [1.280787706375122, 0.09358400106430054, -0.814303457736969], [1.2160829305648804, 0.09358400106430054, -0.5728219747543335], [1.2160829305648804, 0.09358400106430054, -0.3228219747543335], [1.2160829305648804, 0.09358400106430054, -0.0728219747543335], [1.2160829305648804, 0.09358400106430054, 0.1771780252456665], [1.2160829305648804, 0.09358400106430054, 0.4271780252456665], [1.2160829305648804, 0.09358400106430054, 0.6771780252456665], [1.280787706375122, 0.09358400106430054, 0.918659508228302], [1.3454924821853638, 0.09358400106430054, 1.1601409912109375], [1.4101972579956055, 0.09358400106430054, 1.4016225337982178]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 2, 1, 1, 2, 1, 2, 1, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 3, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 559, "episode_id": "560", "scene_id": "uNb9QFRL6hY", "instruction": "Leave the room and take a left to go up the stairs. Go up the next set of stairs. Stop at the top of the stairs. ", "start_position": [-16.115400314331055, -1.0384548902511597, -7.008419990539551], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-14.427900314331055, 0.14418059587478638, -12.736499786376953], "goal_radius": 3.0, "reference_path": "[[-16.115400314331055, -1.0384548902511597, -7.008419990539551], [-14.483499526977539, -1.0384548902511597, -6.876009941101074], [-14.447999954223633, -0.43845486640930176, -8.90447998046875], [-14.31820011138916, -0.43845486640930176, -10.070699691772461], [-14.43179988861084, -0.43845486640930176, -11.249300003051758], [-14.427900314331055, 0.14418059587478638, -12.736499786376953]]", "geodesic_distance": 6.6170549392700195, "gt_locations": "[[-16.115400314331055, -1.0384548902511597, -7.008419990539551], [-15.865400314331055, -1.0384548902511597, -7.008419990539551], [-15.615400314331055, -1.0384548902511597, -7.008419990539551], [-15.365400314331055, -1.0384548902511597, -7.008419990539551], [-15.115400314331055, -1.0384548902511597, -7.008419990539551], [-14.873918533325195, -1.0384548902511597, -6.9437150955200195], [-14.809213638305664, -1.0384548902511597, -7.185196399688721], [-14.744508743286133, -1.0384548902511597, -7.426677703857422], [-14.679803848266602, -0.9996918439865112, -7.668159008026123], [-14.61509895324707, -0.8156349062919617, -7.909640312194824], [-14.550394058227539, -0.6874393820762634, -8.151122093200684], [-14.485689163208008, -0.5642713308334351, -8.392603874206543], [-14.420984268188477, -0.46599769592285156, -8.634085655212402], [-14.420984268188477, -0.43845486640930176, -8.884085655212402], [-14.420984268188477, -0.43845486640930176, -9.134085655212402], [-14.420984268188477, -0.43845486640930176, -9.384085655212402], [-14.420984268188477, -0.43845486640930176, -9.634085655212402], [-14.420984268188477, -0.43845486640930176, -9.884085655212402], [-14.420984268188477, -0.43845486640930176, -10.134085655212402], [-14.420984268188477, -0.43845486640930176, -10.384085655212402], [-14.420984268188477, -0.43845486640930176, -10.634085655212402], [-14.420984268188477, -0.43845486640930176, -10.884085655212402], [-14.420984268188477, -0.43845486640930176, -11.134085655212402], [-14.420984268188477, -0.43845486640930176, -11.384085655212402], [-14.420984268188477, -0.38126465678215027, -11.634085655212402], [-14.420984268188477, -0.2624284327030182, -11.884085655212402], [-14.420984268188477, -0.11957147717475891, -12.134085655212402], [-14.420984268188477, 0.06413158774375916, -12.384085655212402]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 560, "episode_id": "561", "scene_id": "uNb9QFRL6hY", "instruction": "Walk into the hallway and turn left. Walk up the stairs and walk straight. Walk up the stairs and stop at the top of the stairs. ", "start_position": [-16.115400314331055, -1.0384548902511597, -7.008419990539551], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-14.427900314331055, 0.14418059587478638, -12.736499786376953], "goal_radius": 3.0, "reference_path": "[[-16.115400314331055, -1.0384548902511597, -7.008419990539551], [-14.483499526977539, -1.0384548902511597, -6.876009941101074], [-14.447999954223633, -0.43845486640930176, -8.90447998046875], [-14.31820011138916, -0.43845486640930176, -10.070699691772461], [-14.43179988861084, -0.43845486640930176, -11.249300003051758], [-14.427900314331055, 0.14418059587478638, -12.736499786376953]]", "geodesic_distance": 6.6170549392700195, "gt_locations": "[[-16.115400314331055, -1.0384548902511597, -7.008419990539551], [-15.865400314331055, -1.0384548902511597, -7.008419990539551], [-15.615400314331055, -1.0384548902511597, -7.008419990539551], [-15.365400314331055, -1.0384548902511597, -7.008419990539551], [-15.115400314331055, -1.0384548902511597, -7.008419990539551], [-14.873918533325195, -1.0384548902511597, -6.9437150955200195], [-14.809213638305664, -1.0384548902511597, -7.185196399688721], [-14.744508743286133, -1.0384548902511597, -7.426677703857422], [-14.679803848266602, -0.9996918439865112, -7.668159008026123], [-14.61509895324707, -0.8156349062919617, -7.909640312194824], [-14.550394058227539, -0.6874393820762634, -8.151122093200684], [-14.485689163208008, -0.5642713308334351, -8.392603874206543], [-14.420984268188477, -0.46599769592285156, -8.634085655212402], [-14.420984268188477, -0.43845486640930176, -8.884085655212402], [-14.420984268188477, -0.43845486640930176, -9.134085655212402], [-14.420984268188477, -0.43845486640930176, -9.384085655212402], [-14.420984268188477, -0.43845486640930176, -9.634085655212402], [-14.420984268188477, -0.43845486640930176, -9.884085655212402], [-14.420984268188477, -0.43845486640930176, -10.134085655212402], [-14.420984268188477, -0.43845486640930176, -10.384085655212402], [-14.420984268188477, -0.43845486640930176, -10.634085655212402], [-14.420984268188477, -0.43845486640930176, -10.884085655212402], [-14.420984268188477, -0.43845486640930176, -11.134085655212402], [-14.420984268188477, -0.43845486640930176, -11.384085655212402], [-14.420984268188477, -0.38126465678215027, -11.634085655212402], [-14.420984268188477, -0.2624284327030182, -11.884085655212402], [-14.420984268188477, -0.11957147717475891, -12.134085655212402], [-14.420984268188477, 0.06413158774375916, -12.384085655212402]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 561, "episode_id": "562", "scene_id": "uNb9QFRL6hY", "instruction": "Turn left and go up the steps. Continue straight and go up three more steps. Wait at the top. ", "start_position": [-16.115400314331055, -1.0384548902511597, -7.008419990539551], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [-14.427900314331055, 0.14418059587478638, -12.736499786376953], "goal_radius": 3.0, "reference_path": "[[-16.115400314331055, -1.0384548902511597, -7.008419990539551], [-14.483499526977539, -1.0384548902511597, -6.876009941101074], [-14.447999954223633, -0.43845486640930176, -8.90447998046875], [-14.31820011138916, -0.43845486640930176, -10.070699691772461], [-14.43179988861084, -0.43845486640930176, -11.249300003051758], [-14.427900314331055, 0.14418059587478638, -12.736499786376953]]", "geodesic_distance": 6.6170549392700195, "gt_locations": "[[-16.115400314331055, -1.0384548902511597, -7.008419990539551], [-15.865400314331055, -1.0384548902511597, -7.008419990539551], [-15.615400314331055, -1.0384548902511597, -7.008419990539551], [-15.365400314331055, -1.0384548902511597, -7.008419990539551], [-15.115400314331055, -1.0384548902511597, -7.008419990539551], [-14.873918533325195, -1.0384548902511597, -6.9437150955200195], [-14.809213638305664, -1.0384548902511597, -7.185196399688721], [-14.744508743286133, -1.0384548902511597, -7.426677703857422], [-14.679803848266602, -0.9996918439865112, -7.668159008026123], [-14.61509895324707, -0.8156349062919617, -7.909640312194824], [-14.550394058227539, -0.6874393820762634, -8.151122093200684], [-14.485689163208008, -0.5642713308334351, -8.392603874206543], [-14.420984268188477, -0.46599769592285156, -8.634085655212402], [-14.420984268188477, -0.43845486640930176, -8.884085655212402], [-14.420984268188477, -0.43845486640930176, -9.134085655212402], [-14.420984268188477, -0.43845486640930176, -9.384085655212402], [-14.420984268188477, -0.43845486640930176, -9.634085655212402], [-14.420984268188477, -0.43845486640930176, -9.884085655212402], [-14.420984268188477, -0.43845486640930176, -10.134085655212402], [-14.420984268188477, -0.43845486640930176, -10.384085655212402], [-14.420984268188477, -0.43845486640930176, -10.634085655212402], [-14.420984268188477, -0.43845486640930176, -10.884085655212402], [-14.420984268188477, -0.43845486640930176, -11.134085655212402], [-14.420984268188477, -0.43845486640930176, -11.384085655212402], [-14.420984268188477, -0.38126465678215027, -11.634085655212402], [-14.420984268188477, -0.2624284327030182, -11.884085655212402], [-14.420984268188477, -0.11957147717475891, -12.134085655212402], [-14.420984268188477, 0.06413158774375916, -12.384085655212402]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 562, "episode_id": "563", "scene_id": "S9hNv5qa7GM", "instruction": "Walk straight down the hall and into the room straight ahead. Wait near the entrance. ", "start_position": [-8.971779823303223, 2.9162778854370117, -1.504830002784729], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-3.5848500728607178, 2.9162778854370117, -0.7713919878005981], "goal_radius": 3.0, "reference_path": "[[-8.971779823303223, 2.9162778854370117, -1.504830002784729], [-6.641109943389893, 2.9162778854370117, -1.6671299934387207], [-4.845550060272217, 2.9162778854370117, -0.9245250225067139], [-4.220640182495117, 2.9162778854370117, -0.8511729836463928], [-3.5848500728607178, 2.9162778854370117, -0.7713919878005981]]", "geodesic_distance": 5.436629295349121, "gt_locations": "[[-8.971779823303223, 2.9162778854370117, -1.504830002784729], [-8.721779823303223, 2.9162778854370117, -1.504830002784729], [-8.471779823303223, 2.9162778854370117, -1.504830002784729], [-8.221779823303223, 2.9162778854370117, -1.504830002784729], [-7.971779823303223, 2.9162778854370117, -1.504830002784729], [-7.721779823303223, 2.9162778854370117, -1.504830002784729], [-7.471779823303223, 2.9162778854370117, -1.504830002784729], [-7.2302985191345215, 2.9162778854370117, -1.5695347785949707], [-6.98881721496582, 2.9162778854370117, -1.6342395544052124], [-6.747335910797119, 2.9162778854370117, -1.5695347785949707], [-6.505854606628418, 2.9162778854370117, -1.5048298835754395], [-6.264373302459717, 2.9162778854370117, -1.4401249885559082], [-6.022891998291016, 2.9162778854370117, -1.375420093536377], [-5.7814106941223145, 2.9162778854370117, -1.3107151985168457], [-5.539929389953613, 2.9162778854370117, -1.2460103034973145], [-5.323422908782959, 2.9162778854370117, -1.1210103034973145], [-5.106916427612305, 2.9162778854370117, -0.9960103034973145], [-4.8654351234436035, 2.9162778854370117, -0.9313055276870728], [-4.623953819274902, 2.9162778854370117, -0.866600751876831], [-4.373953819274902, 2.9162778854370117, -0.866600751876831], [-4.132472515106201, 2.9162778854370117, -0.8018959760665894], [-3.882472515106201, 2.9162778854370117, -0.8018959760665894]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 3, 1, 2, 1, 0]"}
{"id": 563, "episode_id": "564", "scene_id": "S9hNv5qa7GM", "instruction": "Walk past the end table and stop in the doorway of the bedroom. ", "start_position": [-8.971779823303223, 2.9162778854370117, -1.504830002784729], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-3.5848500728607178, 2.9162778854370117, -0.7713919878005981], "goal_radius": 3.0, "reference_path": "[[-8.971779823303223, 2.9162778854370117, -1.504830002784729], [-6.641109943389893, 2.9162778854370117, -1.6671299934387207], [-4.845550060272217, 2.9162778854370117, -0.9245250225067139], [-4.220640182495117, 2.9162778854370117, -0.8511729836463928], [-3.5848500728607178, 2.9162778854370117, -0.7713919878005981]]", "geodesic_distance": 5.436629295349121, "gt_locations": "[[-8.971779823303223, 2.9162778854370117, -1.504830002784729], [-8.721779823303223, 2.9162778854370117, -1.504830002784729], [-8.471779823303223, 2.9162778854370117, -1.504830002784729], [-8.221779823303223, 2.9162778854370117, -1.504830002784729], [-7.971779823303223, 2.9162778854370117, -1.504830002784729], [-7.721779823303223, 2.9162778854370117, -1.504830002784729], [-7.471779823303223, 2.9162778854370117, -1.504830002784729], [-7.2302985191345215, 2.9162778854370117, -1.5695347785949707], [-6.98881721496582, 2.9162778854370117, -1.6342395544052124], [-6.747335910797119, 2.9162778854370117, -1.5695347785949707], [-6.505854606628418, 2.9162778854370117, -1.5048298835754395], [-6.264373302459717, 2.9162778854370117, -1.4401249885559082], [-6.022891998291016, 2.9162778854370117, -1.375420093536377], [-5.7814106941223145, 2.9162778854370117, -1.3107151985168457], [-5.539929389953613, 2.9162778854370117, -1.2460103034973145], [-5.323422908782959, 2.9162778854370117, -1.1210103034973145], [-5.106916427612305, 2.9162778854370117, -0.9960103034973145], [-4.8654351234436035, 2.9162778854370117, -0.9313055276870728], [-4.623953819274902, 2.9162778854370117, -0.866600751876831], [-4.373953819274902, 2.9162778854370117, -0.866600751876831], [-4.132472515106201, 2.9162778854370117, -0.8018959760665894], [-3.882472515106201, 2.9162778854370117, -0.8018959760665894]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 3, 1, 2, 1, 0]"}
{"id": 564, "episode_id": "565", "scene_id": "S9hNv5qa7GM", "instruction": "With the stairs to your right, walk straight down the hallway and into the blue bedroom at the end.  Stop just after passing through the doorway. ", "start_position": [-8.971779823303223, 2.9162778854370117, -1.504830002784729], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [-3.5848500728607178, 2.9162778854370117, -0.7713919878005981], "goal_radius": 3.0, "reference_path": "[[-8.971779823303223, 2.9162778854370117, -1.504830002784729], [-6.641109943389893, 2.9162778854370117, -1.6671299934387207], [-4.845550060272217, 2.9162778854370117, -0.9245250225067139], [-4.220640182495117, 2.9162778854370117, -0.8511729836463928], [-3.5848500728607178, 2.9162778854370117, -0.7713919878005981]]", "geodesic_distance": 5.436629295349121, "gt_locations": "[[-8.971779823303223, 2.9162778854370117, -1.504830002784729], [-8.721779823303223, 2.9162778854370117, -1.504830002784729], [-8.471779823303223, 2.9162778854370117, -1.504830002784729], [-8.221779823303223, 2.9162778854370117, -1.504830002784729], [-7.971779823303223, 2.9162778854370117, -1.504830002784729], [-7.721779823303223, 2.9162778854370117, -1.504830002784729], [-7.471779823303223, 2.9162778854370117, -1.504830002784729], [-7.2302985191345215, 2.9162778854370117, -1.5695347785949707], [-6.98881721496582, 2.9162778854370117, -1.6342395544052124], [-6.747335910797119, 2.9162778854370117, -1.5695347785949707], [-6.505854606628418, 2.9162778854370117, -1.5048298835754395], [-6.264373302459717, 2.9162778854370117, -1.4401249885559082], [-6.022891998291016, 2.9162778854370117, -1.375420093536377], [-5.7814106941223145, 2.9162778854370117, -1.3107151985168457], [-5.539929389953613, 2.9162778854370117, -1.2460103034973145], [-5.323422908782959, 2.9162778854370117, -1.1210103034973145], [-5.106916427612305, 2.9162778854370117, -0.9960103034973145], [-4.8654351234436035, 2.9162778854370117, -0.9313055276870728], [-4.623953819274902, 2.9162778854370117, -0.866600751876831], [-4.373953819274902, 2.9162778854370117, -0.866600751876831], [-4.132472515106201, 2.9162778854370117, -0.8018959760665894], [-3.882472515106201, 2.9162778854370117, -0.8018959760665894]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 2, 1, 3, 1, 2, 1, 0]"}
{"id": 565, "episode_id": "566", "scene_id": "759xd9YjKW5", "instruction": "Exit the bedroom through the archway, turn right, pass the stairs and enter the archway on the right. Stop in the hallway and wait near the bathroom door. ", "start_position": [-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-8.593520164489746, 3.2966651916503906, -7.748889923095703], "goal_radius": 3.0, "reference_path": "[[-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], [-2.3354101181030273, 3.2966651916503906, -0.6596760153770447], [-4.411210060119629, 3.2966651916503906, -1.8527699708938599], [-6.293429851531982, 3.2966651916503906, -2.8884599208831787], [-8.154999732971191, 3.2966651916503906, -6.732230186462402], [-8.593520164489746, 3.2966651916503906, -7.748889923095703]]", "geodesic_distance": 12.1726713180542, "gt_locations": "[[-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], [-0.28343045711517334, 3.2966651916503906, -0.035358503460884094], [-0.5249119400978088, 3.2966651916503906, -0.1000632643699646], [-0.7663934230804443, 3.2966651916503906, -0.1647680252790451], [-1.0078749656677246, 3.2966651916503906, -0.2294727861881256], [-1.2493565082550049, 3.2966651916503906, -0.2941775321960449], [-1.4908380508422852, 3.2966651916503906, -0.3588823080062866], [-1.7323195934295654, 3.2966651916503906, -0.4235870838165283], [-1.9738011360168457, 3.2966651916503906, -0.48829185962677], [-2.190307378768921, 3.2966651916503906, -0.61329185962677], [-2.406813621520996, 3.2966651916503906, -0.73829185962677], [-2.6233198642730713, 3.2966651916503906, -0.86329185962677], [-2.8398261070251465, 3.2966651916503906, -0.98829185962677], [-3.0563323497772217, 3.2966651916503906, -1.11329185962677], [-3.272838592529297, 3.2966651916503906, -1.23829185962677], [-3.489344835281372, 3.2966651916503906, -1.36329185962677], [-3.7058510780334473, 3.2966651916503906, -1.48829185962677], [-3.9223573207855225, 3.2966651916503906, -1.61329185962677], [-4.138863563537598, 3.2966651916503906, -1.73829185962677], [-4.355370044708252, 3.2966651916503906, -1.86329185962677], [-4.571876525878906, 3.2966651916503906, -1.98829185962677], [-4.7883830070495605, 3.2966651916503906, -2.1132919788360596], [-5.004889488220215, 3.2966651916503906, -2.2382919788360596], [-5.221395969390869, 3.2966651916503906, -2.3632919788360596], [-5.437902450561523, 3.2966651916503906, -2.4882919788360596], [-5.654408931732178, 3.2966651916503906, -2.6132919788360596], [-5.870915412902832, 3.2966651916503906, -2.7382919788360596], [-6.04769229888916, 3.2966651916503906, -2.9150686264038086], [-6.224469184875488, 3.2966651916503906, -3.0918452739715576], [-6.401246070861816, 3.2966651916503906, -3.2686219215393066], [-6.526246070861816, 3.2966651916503906, -3.485128402709961], [-6.7030229568481445, 3.2966651916503906, -3.66190505027771], [-6.767727851867676, 3.2966651916503906, -3.9033865928649902], [-6.832432746887207, 3.2966651916503906, -4.144867897033691], [-6.897137641906738, 3.2966651916503906, -4.386349201202393], [-6.9618425369262695, 3.2966651916503906, -4.627830505371094], [-7.026547431945801, 3.2966651916503906, -4.869311809539795], [-7.091252326965332, 3.2966651916503906, -5.110793113708496], [-7.216252326965332, 3.2966651916503906, -5.32729959487915], [-7.341252326965332, 3.2966651916503906, -5.543806076049805], [-7.405957221984863, 3.2966651916503906, -5.785287380218506], [-7.530957221984863, 3.2966651916503906, -6.00179386138916], [-7.729972839355469, 3.2966651916503906, -6.179267406463623], [-7.854972839355469, 3.2966651916503906, -6.395773887634277], [-7.979972839355469, 3.2966651916503906, -6.612280368804932], [-8.104972839355469, 3.2966651916503906, -6.828786849975586], [-8.229972839355469, 3.2966651916503906, -7.04529333114624], [-8.294677734375, 3.2966651916503906, -7.286774635314941], [-8.419677734375, 3.2966651916503906, -7.503281116485596]]", "gt_actions": "[2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 566, "episode_id": "567", "scene_id": "759xd9YjKW5", "instruction": "Exit the room using the opening on the left.  Turn right and go straight until you get to a hallway. Wait there. ", "start_position": [-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-8.593520164489746, 3.2966651916503906, -7.748889923095703], "goal_radius": 3.0, "reference_path": "[[-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], [-2.3354101181030273, 3.2966651916503906, -0.6596760153770447], [-4.411210060119629, 3.2966651916503906, -1.8527699708938599], [-6.293429851531982, 3.2966651916503906, -2.8884599208831787], [-8.154999732971191, 3.2966651916503906, -6.732230186462402], [-8.593520164489746, 3.2966651916503906, -7.748889923095703]]", "geodesic_distance": 12.1726713180542, "gt_locations": "[[-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], [-0.28343045711517334, 3.2966651916503906, -0.035358503460884094], [-0.5249119400978088, 3.2966651916503906, -0.1000632643699646], [-0.7663934230804443, 3.2966651916503906, -0.1647680252790451], [-1.0078749656677246, 3.2966651916503906, -0.2294727861881256], [-1.2493565082550049, 3.2966651916503906, -0.2941775321960449], [-1.4908380508422852, 3.2966651916503906, -0.3588823080062866], [-1.7323195934295654, 3.2966651916503906, -0.4235870838165283], [-1.9738011360168457, 3.2966651916503906, -0.48829185962677], [-2.190307378768921, 3.2966651916503906, -0.61329185962677], [-2.406813621520996, 3.2966651916503906, -0.73829185962677], [-2.6233198642730713, 3.2966651916503906, -0.86329185962677], [-2.8398261070251465, 3.2966651916503906, -0.98829185962677], [-3.0563323497772217, 3.2966651916503906, -1.11329185962677], [-3.272838592529297, 3.2966651916503906, -1.23829185962677], [-3.489344835281372, 3.2966651916503906, -1.36329185962677], [-3.7058510780334473, 3.2966651916503906, -1.48829185962677], [-3.9223573207855225, 3.2966651916503906, -1.61329185962677], [-4.138863563537598, 3.2966651916503906, -1.73829185962677], [-4.355370044708252, 3.2966651916503906, -1.86329185962677], [-4.571876525878906, 3.2966651916503906, -1.98829185962677], [-4.7883830070495605, 3.2966651916503906, -2.1132919788360596], [-5.004889488220215, 3.2966651916503906, -2.2382919788360596], [-5.221395969390869, 3.2966651916503906, -2.3632919788360596], [-5.437902450561523, 3.2966651916503906, -2.4882919788360596], [-5.654408931732178, 3.2966651916503906, -2.6132919788360596], [-5.870915412902832, 3.2966651916503906, -2.7382919788360596], [-6.04769229888916, 3.2966651916503906, -2.9150686264038086], [-6.224469184875488, 3.2966651916503906, -3.0918452739715576], [-6.401246070861816, 3.2966651916503906, -3.2686219215393066], [-6.526246070861816, 3.2966651916503906, -3.485128402709961], [-6.7030229568481445, 3.2966651916503906, -3.66190505027771], [-6.767727851867676, 3.2966651916503906, -3.9033865928649902], [-6.832432746887207, 3.2966651916503906, -4.144867897033691], [-6.897137641906738, 3.2966651916503906, -4.386349201202393], [-6.9618425369262695, 3.2966651916503906, -4.627830505371094], [-7.026547431945801, 3.2966651916503906, -4.869311809539795], [-7.091252326965332, 3.2966651916503906, -5.110793113708496], [-7.216252326965332, 3.2966651916503906, -5.32729959487915], [-7.341252326965332, 3.2966651916503906, -5.543806076049805], [-7.405957221984863, 3.2966651916503906, -5.785287380218506], [-7.530957221984863, 3.2966651916503906, -6.00179386138916], [-7.729972839355469, 3.2966651916503906, -6.179267406463623], [-7.854972839355469, 3.2966651916503906, -6.395773887634277], [-7.979972839355469, 3.2966651916503906, -6.612280368804932], [-8.104972839355469, 3.2966651916503906, -6.828786849975586], [-8.229972839355469, 3.2966651916503906, -7.04529333114624], [-8.294677734375, 3.2966651916503906, -7.286774635314941], [-8.419677734375, 3.2966651916503906, -7.503281116485596]]", "gt_actions": "[2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 567, "episode_id": "568", "scene_id": "759xd9YjKW5", "instruction": "Exit bedroom, make a right past stairs, and wait at green bathroom entrance. ", "start_position": [-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-8.593520164489746, 3.2966651916503906, -7.748889923095703], "goal_radius": 3.0, "reference_path": "[[-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], [-2.3354101181030273, 3.2966651916503906, -0.6596760153770447], [-4.411210060119629, 3.2966651916503906, -1.8527699708938599], [-6.293429851531982, 3.2966651916503906, -2.8884599208831787], [-8.154999732971191, 3.2966651916503906, -6.732230186462402], [-8.593520164489746, 3.2966651916503906, -7.748889923095703]]", "geodesic_distance": 12.1726713180542, "gt_locations": "[[-0.06692412495613098, 3.2966651916503906, 0.0896415188908577], [-0.28343045711517334, 3.2966651916503906, -0.035358503460884094], [-0.5249119400978088, 3.2966651916503906, -0.1000632643699646], [-0.7663934230804443, 3.2966651916503906, -0.1647680252790451], [-1.0078749656677246, 3.2966651916503906, -0.2294727861881256], [-1.2493565082550049, 3.2966651916503906, -0.2941775321960449], [-1.4908380508422852, 3.2966651916503906, -0.3588823080062866], [-1.7323195934295654, 3.2966651916503906, -0.4235870838165283], [-1.9738011360168457, 3.2966651916503906, -0.48829185962677], [-2.190307378768921, 3.2966651916503906, -0.61329185962677], [-2.406813621520996, 3.2966651916503906, -0.73829185962677], [-2.6233198642730713, 3.2966651916503906, -0.86329185962677], [-2.8398261070251465, 3.2966651916503906, -0.98829185962677], [-3.0563323497772217, 3.2966651916503906, -1.11329185962677], [-3.272838592529297, 3.2966651916503906, -1.23829185962677], [-3.489344835281372, 3.2966651916503906, -1.36329185962677], [-3.7058510780334473, 3.2966651916503906, -1.48829185962677], [-3.9223573207855225, 3.2966651916503906, -1.61329185962677], [-4.138863563537598, 3.2966651916503906, -1.73829185962677], [-4.355370044708252, 3.2966651916503906, -1.86329185962677], [-4.571876525878906, 3.2966651916503906, -1.98829185962677], [-4.7883830070495605, 3.2966651916503906, -2.1132919788360596], [-5.004889488220215, 3.2966651916503906, -2.2382919788360596], [-5.221395969390869, 3.2966651916503906, -2.3632919788360596], [-5.437902450561523, 3.2966651916503906, -2.4882919788360596], [-5.654408931732178, 3.2966651916503906, -2.6132919788360596], [-5.870915412902832, 3.2966651916503906, -2.7382919788360596], [-6.04769229888916, 3.2966651916503906, -2.9150686264038086], [-6.224469184875488, 3.2966651916503906, -3.0918452739715576], [-6.401246070861816, 3.2966651916503906, -3.2686219215393066], [-6.526246070861816, 3.2966651916503906, -3.485128402709961], [-6.7030229568481445, 3.2966651916503906, -3.66190505027771], [-6.767727851867676, 3.2966651916503906, -3.9033865928649902], [-6.832432746887207, 3.2966651916503906, -4.144867897033691], [-6.897137641906738, 3.2966651916503906, -4.386349201202393], [-6.9618425369262695, 3.2966651916503906, -4.627830505371094], [-7.026547431945801, 3.2966651916503906, -4.869311809539795], [-7.091252326965332, 3.2966651916503906, -5.110793113708496], [-7.216252326965332, 3.2966651916503906, -5.32729959487915], [-7.341252326965332, 3.2966651916503906, -5.543806076049805], [-7.405957221984863, 3.2966651916503906, -5.785287380218506], [-7.530957221984863, 3.2966651916503906, -6.00179386138916], [-7.729972839355469, 3.2966651916503906, -6.179267406463623], [-7.854972839355469, 3.2966651916503906, -6.395773887634277], [-7.979972839355469, 3.2966651916503906, -6.612280368804932], [-8.104972839355469, 3.2966651916503906, -6.828786849975586], [-8.229972839355469, 3.2966651916503906, -7.04529333114624], [-8.294677734375, 3.2966651916503906, -7.286774635314941], [-8.419677734375, 3.2966651916503906, -7.503281116485596]]", "gt_actions": "[2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 3, 3, 1, 1, 1, 1, 3, 1, 2, 1, 0]"}
{"id": 568, "episode_id": "569", "scene_id": "vyrNrziPKCB", "instruction": "Exit the bedroom, cross the room to the left and stop near the room divider on the left,. ", "start_position": [5.790609836578369, -0.20143097639083862, 28.261499404907227], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [1.5486500263214111, -0.20143097639083862, 26.36520004272461], "goal_radius": 3.0, "reference_path": "[[5.790609836578369, -0.20143097639083862, 28.261499404907227], [6.148799896240234, -0.20143097639083862, 27.187599182128906], [6.226570129394531, -0.20143097639083862, 26.013399124145508], [4.445779800415039, -0.20143097639083862, 25.358400344848633], [1.5486500263214111, -0.20143097639083862, 26.36520004272461]]", "geodesic_distance": 6.601351261138916, "gt_locations": "[[5.790609836578369, -0.20143097639083862, 28.261499404907227], [5.8553147315979, -0.20143097639083862, 28.020017623901367], [5.920019626617432, -0.20143097639083862, 27.778535842895508], [5.984724521636963, -0.20143097639083862, 27.53705406188965], [6.049429416656494, -0.20143097639083862, 27.29557228088379], [6.114134311676025, -0.20143097639083862, 27.05409049987793], [6.178839206695557, -0.20143097639083862, 26.81260871887207], [6.178839206695557, -0.20143097639083862, 26.56260871887207], [6.178839206695557, -0.20143097639083862, 26.31260871887207], [6.0020623207092285, -0.20143097639083862, 26.135831832885742], [5.8252854347229, -0.20143097639083862, 25.959054946899414], [5.648508548736572, -0.20143097639083862, 25.782278060913086], [5.432002067565918, -0.20143097639083862, 25.657278060913086], [5.182002067565918, -0.20143097639083862, 25.56764030456543], [4.940520763397217, -0.20143097639083862, 25.5029354095459], [4.699039459228516, -0.20143097639083862, 25.438230514526367], [4.482532978057861, -0.20143097639083862, 25.563230514526367], [4.266026496887207, -0.20143097639083862, 25.688230514526367], [4.049520015716553, -0.20143097639083862, 25.813230514526367], [3.8080384731292725, -0.20143097639083862, 25.8779354095459], [3.5695438385009766, -0.20143097639083862, 25.95608139038086], [3.3280622959136963, -0.20143097639083862, 26.02078628540039], [3.086580753326416, -0.20143097639083862, 26.085491180419922], [2.8450992107391357, -0.20143097639083862, 26.150196075439453], [2.6036176681518555, -0.20143097639083862, 26.214900970458984], [2.362136125564575, -0.20143097639083862, 26.279605865478516], [2.120654582977295, -0.20143097639083862, 26.344310760498047], [1.870654582977295, -0.20143097639083862, 26.344310760498047]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 2, 2, 1, 3, 1, 1, 2, 2, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 569, "episode_id": "570", "scene_id": "vyrNrziPKCB", "instruction": "Exit the room using the door on the left. Turn slightly left and go past the round table an chairs. Wait there. ", "start_position": [5.790609836578369, -0.20143097639083862, 28.261499404907227], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [1.5486500263214111, -0.20143097639083862, 26.36520004272461], "goal_radius": 3.0, "reference_path": "[[5.790609836578369, -0.20143097639083862, 28.261499404907227], [6.148799896240234, -0.20143097639083862, 27.187599182128906], [6.226570129394531, -0.20143097639083862, 26.013399124145508], [4.445779800415039, -0.20143097639083862, 25.358400344848633], [1.5486500263214111, -0.20143097639083862, 26.36520004272461]]", "geodesic_distance": 6.601351261138916, "gt_locations": "[[5.790609836578369, -0.20143097639083862, 28.261499404907227], [5.8553147315979, -0.20143097639083862, 28.020017623901367], [5.920019626617432, -0.20143097639083862, 27.778535842895508], [5.984724521636963, -0.20143097639083862, 27.53705406188965], [6.049429416656494, -0.20143097639083862, 27.29557228088379], [6.114134311676025, -0.20143097639083862, 27.05409049987793], [6.178839206695557, -0.20143097639083862, 26.81260871887207], [6.178839206695557, -0.20143097639083862, 26.56260871887207], [6.178839206695557, -0.20143097639083862, 26.31260871887207], [6.0020623207092285, -0.20143097639083862, 26.135831832885742], [5.8252854347229, -0.20143097639083862, 25.959054946899414], [5.648508548736572, -0.20143097639083862, 25.782278060913086], [5.432002067565918, -0.20143097639083862, 25.657278060913086], [5.182002067565918, -0.20143097639083862, 25.56764030456543], [4.940520763397217, -0.20143097639083862, 25.5029354095459], [4.699039459228516, -0.20143097639083862, 25.438230514526367], [4.482532978057861, -0.20143097639083862, 25.563230514526367], [4.266026496887207, -0.20143097639083862, 25.688230514526367], [4.049520015716553, -0.20143097639083862, 25.813230514526367], [3.8080384731292725, -0.20143097639083862, 25.8779354095459], [3.5695438385009766, -0.20143097639083862, 25.95608139038086], [3.3280622959136963, -0.20143097639083862, 26.02078628540039], [3.086580753326416, -0.20143097639083862, 26.085491180419922], [2.8450992107391357, -0.20143097639083862, 26.150196075439453], [2.6036176681518555, -0.20143097639083862, 26.214900970458984], [2.362136125564575, -0.20143097639083862, 26.279605865478516], [2.120654582977295, -0.20143097639083862, 26.344310760498047], [1.870654582977295, -0.20143097639083862, 26.344310760498047]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 2, 2, 1, 3, 1, 1, 2, 2, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 570, "episode_id": "571", "scene_id": "vyrNrziPKCB", "instruction": "Walk out of the bedroom. Walk past the left side of the table and stop next to the chair and circle in the floor. ", "start_position": [5.790609836578369, -0.20143097639083862, 28.261499404907227], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [1.5486500263214111, -0.20143097639083862, 26.36520004272461], "goal_radius": 3.0, "reference_path": "[[5.790609836578369, -0.20143097639083862, 28.261499404907227], [6.148799896240234, -0.20143097639083862, 27.187599182128906], [6.226570129394531, -0.20143097639083862, 26.013399124145508], [4.445779800415039, -0.20143097639083862, 25.358400344848633], [1.5486500263214111, -0.20143097639083862, 26.36520004272461]]", "geodesic_distance": 6.601351261138916, "gt_locations": "[[5.790609836578369, -0.20143097639083862, 28.261499404907227], [5.8553147315979, -0.20143097639083862, 28.020017623901367], [5.920019626617432, -0.20143097639083862, 27.778535842895508], [5.984724521636963, -0.20143097639083862, 27.53705406188965], [6.049429416656494, -0.20143097639083862, 27.29557228088379], [6.114134311676025, -0.20143097639083862, 27.05409049987793], [6.178839206695557, -0.20143097639083862, 26.81260871887207], [6.178839206695557, -0.20143097639083862, 26.56260871887207], [6.178839206695557, -0.20143097639083862, 26.31260871887207], [6.0020623207092285, -0.20143097639083862, 26.135831832885742], [5.8252854347229, -0.20143097639083862, 25.959054946899414], [5.648508548736572, -0.20143097639083862, 25.782278060913086], [5.432002067565918, -0.20143097639083862, 25.657278060913086], [5.182002067565918, -0.20143097639083862, 25.56764030456543], [4.940520763397217, -0.20143097639083862, 25.5029354095459], [4.699039459228516, -0.20143097639083862, 25.438230514526367], [4.482532978057861, -0.20143097639083862, 25.563230514526367], [4.266026496887207, -0.20143097639083862, 25.688230514526367], [4.049520015716553, -0.20143097639083862, 25.813230514526367], [3.8080384731292725, -0.20143097639083862, 25.8779354095459], [3.5695438385009766, -0.20143097639083862, 25.95608139038086], [3.3280622959136963, -0.20143097639083862, 26.02078628540039], [3.086580753326416, -0.20143097639083862, 26.085491180419922], [2.8450992107391357, -0.20143097639083862, 26.150196075439453], [2.6036176681518555, -0.20143097639083862, 26.214900970458984], [2.362136125564575, -0.20143097639083862, 26.279605865478516], [2.120654582977295, -0.20143097639083862, 26.344310760498047], [1.870654582977295, -0.20143097639083862, 26.344310760498047]]", "gt_actions": "[3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 2, 2, 1, 3, 1, 1, 2, 2, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 571, "episode_id": "572", "scene_id": "ur6pFq6Qu1A", "instruction": "Walk out of the massage table room and into the open room ahead with a wood framed trellis on the ceiling. Walk towards the wall with the paintings with dripping paint design. Turn the corner and walk down the hall and into the room with lounge chairs with towels on them. ", "start_position": [-6.406310081481934, 0.12697899341583252, -0.34757301211357117], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-11.506600379943848, 0.12697899341583252, -1.650339961051941], "goal_radius": 3.0, "reference_path": "[[-6.406310081481934, 0.12697899341583252, -0.34757301211357117], [-6.202390193939209, 0.12697899341583252, -1.2532000541687012], [-6.268439769744873, 0.12697899341583252, -3.0277600288391113], [-7.943480014801025, 0.12697899341583252, -3.0269999504089355], [-11.506600379943848, 0.12697899341583252, -1.650339961051941]]", "geodesic_distance": 6.8134684562683105, "gt_locations": "[[-6.406310081481934, 0.12697899341583252, -0.34757301211357117], [-6.341605186462402, 0.12697899341583252, -0.5890544652938843], [-6.276900291442871, 0.12697899341583252, -0.830535888671875], [-6.276900291442871, 0.12697899341583252, -1.080535888671875], [-6.276900291442871, 0.12697899341583252, -1.330535888671875], [-6.276900291442871, 0.12697899341583252, -1.580535888671875], [-6.276900291442871, 0.12697899341583252, -1.830535888671875], [-6.276900291442871, 0.12697899341583252, -2.080535888671875], [-6.276900291442871, 0.12697899341583252, -2.330535888671875], [-6.276900291442871, 0.12697899341583252, -2.580535888671875], [-6.518381595611572, 0.12697899341583252, -2.6452407836914062], [-6.759862899780273, 0.12697899341583252, -2.7099456787109375], [-7.001344203948975, 0.12697899341583252, -2.7746505737304688], [-7.242825508117676, 0.12697899341583252, -2.83935546875], [-7.484306812286377, 0.12697899341583252, -2.9040603637695312], [-7.725788116455078, 0.12697899341583252, -2.839355707168579], [-7.967269420623779, 0.12697899341583252, -2.774651050567627], [-8.20875072479248, 0.12697899341583252, -2.709946393966675], [-8.45023250579834, 0.12697899341583252, -2.6452417373657227], [-8.6917142868042, 0.12697899341583252, -2.5805370807647705], [-8.933196067810059, 0.12697899341583252, -2.5158324241638184], [-9.174677848815918, 0.12697899341583252, -2.451127767562866], [-9.416159629821777, 0.12697899341583252, -2.386423110961914], [-9.657641410827637, 0.12697899341583252, -2.321718454360962], [-9.899123191833496, 0.12697899341583252, -2.2570137977600098], [-10.140604972839355, 0.12697899341583252, -2.1923091411590576], [-10.382086753845215, 0.12697899341583252, -2.1276044845581055], [-10.623568534851074, 0.12697899341583252, -2.0628998279571533], [-10.84007453918457, 0.12697899341583252, -1.9378998279571533], [-11.056580543518066, 0.12697899341583252, -1.8128998279571533]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 572, "episode_id": "573", "scene_id": "ur6pFq6Qu1A", "instruction": "Exit the room. Turn left and go down the hallway until you see three lounge chairs on the left. Wait there. ", "start_position": [-6.406310081481934, 0.12697899341583252, -0.34757301211357117], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-11.506600379943848, 0.12697899341583252, -1.650339961051941], "goal_radius": 3.0, "reference_path": "[[-6.406310081481934, 0.12697899341583252, -0.34757301211357117], [-6.202390193939209, 0.12697899341583252, -1.2532000541687012], [-6.268439769744873, 0.12697899341583252, -3.0277600288391113], [-7.943480014801025, 0.12697899341583252, -3.0269999504089355], [-11.506600379943848, 0.12697899341583252, -1.650339961051941]]", "geodesic_distance": 6.8134684562683105, "gt_locations": "[[-6.406310081481934, 0.12697899341583252, -0.34757301211357117], [-6.341605186462402, 0.12697899341583252, -0.5890544652938843], [-6.276900291442871, 0.12697899341583252, -0.830535888671875], [-6.276900291442871, 0.12697899341583252, -1.080535888671875], [-6.276900291442871, 0.12697899341583252, -1.330535888671875], [-6.276900291442871, 0.12697899341583252, -1.580535888671875], [-6.276900291442871, 0.12697899341583252, -1.830535888671875], [-6.276900291442871, 0.12697899341583252, -2.080535888671875], [-6.276900291442871, 0.12697899341583252, -2.330535888671875], [-6.276900291442871, 0.12697899341583252, -2.580535888671875], [-6.518381595611572, 0.12697899341583252, -2.6452407836914062], [-6.759862899780273, 0.12697899341583252, -2.7099456787109375], [-7.001344203948975, 0.12697899341583252, -2.7746505737304688], [-7.242825508117676, 0.12697899341583252, -2.83935546875], [-7.484306812286377, 0.12697899341583252, -2.9040603637695312], [-7.725788116455078, 0.12697899341583252, -2.839355707168579], [-7.967269420623779, 0.12697899341583252, -2.774651050567627], [-8.20875072479248, 0.12697899341583252, -2.709946393966675], [-8.45023250579834, 0.12697899341583252, -2.6452417373657227], [-8.6917142868042, 0.12697899341583252, -2.5805370807647705], [-8.933196067810059, 0.12697899341583252, -2.5158324241638184], [-9.174677848815918, 0.12697899341583252, -2.451127767562866], [-9.416159629821777, 0.12697899341583252, -2.386423110961914], [-9.657641410827637, 0.12697899341583252, -2.321718454360962], [-9.899123191833496, 0.12697899341583252, -2.2570137977600098], [-10.140604972839355, 0.12697899341583252, -2.1923091411590576], [-10.382086753845215, 0.12697899341583252, -2.1276044845581055], [-10.623568534851074, 0.12697899341583252, -2.0628998279571533], [-10.84007453918457, 0.12697899341583252, -1.9378998279571533], [-11.056580543518066, 0.12697899341583252, -1.8128998279571533]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 573, "episode_id": "574", "scene_id": "ur6pFq6Qu1A", "instruction": "Exit bathroom, make a left, head down hallway, and stop next to table in room. ", "start_position": [-6.406310081481934, 0.12697899341583252, -0.34757301211357117], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-11.506600379943848, 0.12697899341583252, -1.650339961051941], "goal_radius": 3.0, "reference_path": "[[-6.406310081481934, 0.12697899341583252, -0.34757301211357117], [-6.202390193939209, 0.12697899341583252, -1.2532000541687012], [-6.268439769744873, 0.12697899341583252, -3.0277600288391113], [-7.943480014801025, 0.12697899341583252, -3.0269999504089355], [-11.506600379943848, 0.12697899341583252, -1.650339961051941]]", "geodesic_distance": 6.8134684562683105, "gt_locations": "[[-6.406310081481934, 0.12697899341583252, -0.34757301211357117], [-6.341605186462402, 0.12697899341583252, -0.5890544652938843], [-6.276900291442871, 0.12697899341583252, -0.830535888671875], [-6.276900291442871, 0.12697899341583252, -1.080535888671875], [-6.276900291442871, 0.12697899341583252, -1.330535888671875], [-6.276900291442871, 0.12697899341583252, -1.580535888671875], [-6.276900291442871, 0.12697899341583252, -1.830535888671875], [-6.276900291442871, 0.12697899341583252, -2.080535888671875], [-6.276900291442871, 0.12697899341583252, -2.330535888671875], [-6.276900291442871, 0.12697899341583252, -2.580535888671875], [-6.518381595611572, 0.12697899341583252, -2.6452407836914062], [-6.759862899780273, 0.12697899341583252, -2.7099456787109375], [-7.001344203948975, 0.12697899341583252, -2.7746505737304688], [-7.242825508117676, 0.12697899341583252, -2.83935546875], [-7.484306812286377, 0.12697899341583252, -2.9040603637695312], [-7.725788116455078, 0.12697899341583252, -2.839355707168579], [-7.967269420623779, 0.12697899341583252, -2.774651050567627], [-8.20875072479248, 0.12697899341583252, -2.709946393966675], [-8.45023250579834, 0.12697899341583252, -2.6452417373657227], [-8.6917142868042, 0.12697899341583252, -2.5805370807647705], [-8.933196067810059, 0.12697899341583252, -2.5158324241638184], [-9.174677848815918, 0.12697899341583252, -2.451127767562866], [-9.416159629821777, 0.12697899341583252, -2.386423110961914], [-9.657641410827637, 0.12697899341583252, -2.321718454360962], [-9.899123191833496, 0.12697899341583252, -2.2570137977600098], [-10.140604972839355, 0.12697899341583252, -2.1923091411590576], [-10.382086753845215, 0.12697899341583252, -2.1276044845581055], [-10.623568534851074, 0.12697899341583252, -2.0628998279571533], [-10.84007453918457, 0.12697899341583252, -1.9378998279571533], [-11.056580543518066, 0.12697899341583252, -1.8128998279571533]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 574, "episode_id": "575", "scene_id": "VzqfbhrpDEA", "instruction": "Turn right and walk towards the painting. Turn left and walk towards the pool table to your slight left. Walk towards the balcony and wait there. ", "start_position": [-11.366299629211426, 3.491008996963501, -2.854749917984009], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-18.842899322509766, 3.491008996963501, -0.0781627967953682], "goal_radius": 3.0, "reference_path": "[[-11.366299629211426, 3.491008996963501, -2.854749917984009], [-11.348699569702148, 3.491008996963501, -4.047070026397705], [-14.129799842834473, 3.491008996963501, -4.074379920959473], [-15.667499542236328, 3.491008996963501, -2.1663599014282227], [-17.101999282836914, 3.491008996963501, -1.0878000259399414], [-18.842899322509766, 3.491008996963501, -0.0781627967953682]]", "geodesic_distance": 8.915548324584961, "gt_locations": "[[-11.366299629211426, 3.491008996963501, -2.854749917984009], [-11.366299629211426, 3.491008996963501, -3.104749917984009], [-11.366299629211426, 3.491008996963501, -3.354749917984009], [-11.366299629211426, 3.491008996963501, -3.604749917984009], [-11.607781410217285, 3.491008996963501, -3.669454574584961], [-11.849263191223145, 3.491008996963501, -3.734159231185913], [-12.090744972229004, 3.491008996963501, -3.7988638877868652], [-12.332226753234863, 3.491008996963501, -3.8635685443878174], [-12.573708534240723, 3.491008996963501, -3.9282732009887695], [-12.815190315246582, 3.491008996963501, -3.9929778575897217], [-13.065190315246582, 3.491008996963501, -3.9929778575897217], [-13.315190315246582, 3.491008996963501, -3.9929778575897217], [-13.565190315246582, 3.491008996963501, -3.9929778575897217], [-13.815190315246582, 3.491008996963501, -3.9929778575897217], [-13.99196720123291, 3.491008996963501, -3.8162012100219727], [-14.168744087219238, 3.491008996963501, -3.6394245624542236], [-14.345520973205566, 3.491008996963501, -3.4626479148864746], [-14.522297859191895, 3.491008996963501, -3.2858712673187256], [-14.699074745178223, 3.491008996963501, -3.1090946197509766], [-14.87585163116455, 3.491008996963501, -2.9323179721832275], [-15.052628517150879, 3.491008996963501, -2.7555413246154785], [-15.229405403137207, 3.491008996963501, -2.5787646770477295], [-15.406182289123535, 3.491008996963501, -2.4019880294799805], [-15.582959175109863, 3.491008996963501, -2.2252113819122314], [-15.759736061096191, 3.491008996963501, -2.0484347343444824], [-15.93651294708252, 3.491008996963501, -1.8716579675674438], [-16.153018951416016, 3.491008996963501, -1.7466580867767334], [-16.369525909423828, 3.491008996963501, -1.6216580867767334], [-16.58603286743164, 3.491008996963501, -1.4966580867767334], [-16.802539825439453, 3.491008996963501, -1.3716580867767334], [-17.019046783447266, 3.491008996963501, -1.2466580867767334], [-17.235553741455078, 3.491008996963501, -1.1216580867767334], [-17.45206069946289, 3.491008996963501, -0.9966581463813782], [-17.668567657470703, 3.491008996963501, -0.871658205986023], [-17.885074615478516, 3.491008996963501, -0.7466582655906677], [-18.101581573486328, 3.491008996963501, -0.6216583251953125], [-18.31808853149414, 3.491008996963501, -0.4966583847999573], [-18.534595489501953, 3.491008996963501, -0.37165844440460205]]", "gt_actions": "[3, 3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 575, "episode_id": "576", "scene_id": "VzqfbhrpDEA", "instruction": "Exit bathroom, make a left, make a slight left, then head to balcony and wait. ", "start_position": [-11.366299629211426, 3.491008996963501, -2.854749917984009], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-18.842899322509766, 3.491008996963501, -0.0781627967953682], "goal_radius": 3.0, "reference_path": "[[-11.366299629211426, 3.491008996963501, -2.854749917984009], [-11.348699569702148, 3.491008996963501, -4.047070026397705], [-14.129799842834473, 3.491008996963501, -4.074379920959473], [-15.667499542236328, 3.491008996963501, -2.1663599014282227], [-17.101999282836914, 3.491008996963501, -1.0878000259399414], [-18.842899322509766, 3.491008996963501, -0.0781627967953682]]", "geodesic_distance": 8.915548324584961, "gt_locations": "[[-11.366299629211426, 3.491008996963501, -2.854749917984009], [-11.366299629211426, 3.491008996963501, -3.104749917984009], [-11.366299629211426, 3.491008996963501, -3.354749917984009], [-11.366299629211426, 3.491008996963501, -3.604749917984009], [-11.607781410217285, 3.491008996963501, -3.669454574584961], [-11.849263191223145, 3.491008996963501, -3.734159231185913], [-12.090744972229004, 3.491008996963501, -3.7988638877868652], [-12.332226753234863, 3.491008996963501, -3.8635685443878174], [-12.573708534240723, 3.491008996963501, -3.9282732009887695], [-12.815190315246582, 3.491008996963501, -3.9929778575897217], [-13.065190315246582, 3.491008996963501, -3.9929778575897217], [-13.315190315246582, 3.491008996963501, -3.9929778575897217], [-13.565190315246582, 3.491008996963501, -3.9929778575897217], [-13.815190315246582, 3.491008996963501, -3.9929778575897217], [-13.99196720123291, 3.491008996963501, -3.8162012100219727], [-14.168744087219238, 3.491008996963501, -3.6394245624542236], [-14.345520973205566, 3.491008996963501, -3.4626479148864746], [-14.522297859191895, 3.491008996963501, -3.2858712673187256], [-14.699074745178223, 3.491008996963501, -3.1090946197509766], [-14.87585163116455, 3.491008996963501, -2.9323179721832275], [-15.052628517150879, 3.491008996963501, -2.7555413246154785], [-15.229405403137207, 3.491008996963501, -2.5787646770477295], [-15.406182289123535, 3.491008996963501, -2.4019880294799805], [-15.582959175109863, 3.491008996963501, -2.2252113819122314], [-15.759736061096191, 3.491008996963501, -2.0484347343444824], [-15.93651294708252, 3.491008996963501, -1.8716579675674438], [-16.153018951416016, 3.491008996963501, -1.7466580867767334], [-16.369525909423828, 3.491008996963501, -1.6216580867767334], [-16.58603286743164, 3.491008996963501, -1.4966580867767334], [-16.802539825439453, 3.491008996963501, -1.3716580867767334], [-17.019046783447266, 3.491008996963501, -1.2466580867767334], [-17.235553741455078, 3.491008996963501, -1.1216580867767334], [-17.45206069946289, 3.491008996963501, -0.9966581463813782], [-17.668567657470703, 3.491008996963501, -0.871658205986023], [-17.885074615478516, 3.491008996963501, -0.7466582655906677], [-18.101581573486328, 3.491008996963501, -0.6216583251953125], [-18.31808853149414, 3.491008996963501, -0.4966583847999573], [-18.534595489501953, 3.491008996963501, -0.37165844440460205]]", "gt_actions": "[3, 3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 576, "episode_id": "577", "scene_id": "VzqfbhrpDEA", "instruction": "Exit the bathroom. Turn left and walk down the hall until you get to a large room on the left with a pool. Table. Walk toward the pool table and straight. Wait near the balcony. ", "start_position": [-11.366299629211426, 3.491008996963501, -2.854749917984009], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-18.842899322509766, 3.491008996963501, -0.0781627967953682], "goal_radius": 3.0, "reference_path": "[[-11.366299629211426, 3.491008996963501, -2.854749917984009], [-11.348699569702148, 3.491008996963501, -4.047070026397705], [-14.129799842834473, 3.491008996963501, -4.074379920959473], [-15.667499542236328, 3.491008996963501, -2.1663599014282227], [-17.101999282836914, 3.491008996963501, -1.0878000259399414], [-18.842899322509766, 3.491008996963501, -0.0781627967953682]]", "geodesic_distance": 8.915548324584961, "gt_locations": "[[-11.366299629211426, 3.491008996963501, -2.854749917984009], [-11.366299629211426, 3.491008996963501, -3.104749917984009], [-11.366299629211426, 3.491008996963501, -3.354749917984009], [-11.366299629211426, 3.491008996963501, -3.604749917984009], [-11.607781410217285, 3.491008996963501, -3.669454574584961], [-11.849263191223145, 3.491008996963501, -3.734159231185913], [-12.090744972229004, 3.491008996963501, -3.7988638877868652], [-12.332226753234863, 3.491008996963501, -3.8635685443878174], [-12.573708534240723, 3.491008996963501, -3.9282732009887695], [-12.815190315246582, 3.491008996963501, -3.9929778575897217], [-13.065190315246582, 3.491008996963501, -3.9929778575897217], [-13.315190315246582, 3.491008996963501, -3.9929778575897217], [-13.565190315246582, 3.491008996963501, -3.9929778575897217], [-13.815190315246582, 3.491008996963501, -3.9929778575897217], [-13.99196720123291, 3.491008996963501, -3.8162012100219727], [-14.168744087219238, 3.491008996963501, -3.6394245624542236], [-14.345520973205566, 3.491008996963501, -3.4626479148864746], [-14.522297859191895, 3.491008996963501, -3.2858712673187256], [-14.699074745178223, 3.491008996963501, -3.1090946197509766], [-14.87585163116455, 3.491008996963501, -2.9323179721832275], [-15.052628517150879, 3.491008996963501, -2.7555413246154785], [-15.229405403137207, 3.491008996963501, -2.5787646770477295], [-15.406182289123535, 3.491008996963501, -2.4019880294799805], [-15.582959175109863, 3.491008996963501, -2.2252113819122314], [-15.759736061096191, 3.491008996963501, -2.0484347343444824], [-15.93651294708252, 3.491008996963501, -1.8716579675674438], [-16.153018951416016, 3.491008996963501, -1.7466580867767334], [-16.369525909423828, 3.491008996963501, -1.6216580867767334], [-16.58603286743164, 3.491008996963501, -1.4966580867767334], [-16.802539825439453, 3.491008996963501, -1.3716580867767334], [-17.019046783447266, 3.491008996963501, -1.2466580867767334], [-17.235553741455078, 3.491008996963501, -1.1216580867767334], [-17.45206069946289, 3.491008996963501, -0.9966581463813782], [-17.668567657470703, 3.491008996963501, -0.871658205986023], [-17.885074615478516, 3.491008996963501, -0.7466582655906677], [-18.101581573486328, 3.491008996963501, -0.6216583251953125], [-18.31808853149414, 3.491008996963501, -0.4966583847999573], [-18.534595489501953, 3.491008996963501, -0.37165844440460205]]", "gt_actions": "[3, 3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 577, "episode_id": "578", "scene_id": "Uxmj2M2itWa", "instruction": "Leave the bathroom and go right. Exit the bedroom onto the patio. Go to the stairs. Stop on the second stair from the bottom. ", "start_position": [5.681706428527832, 1.3293702602386475, 1.0103439092636108], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [12.859700202941895, 1.1702649593353271, -3.0680599212646484], "goal_radius": 3.0, "reference_path": "[[5.681706428527832, 1.3293702602386475, 1.0103439092636108], [6.002910137176514, 1.0057289600372314, 0.05610790103673935], [6.74029016494751, 0.8751678466796875, -0.7971029877662659], [9.801210403442383, 0.80572909116745, -1.6233199834823608], [11.137100219726562, 0.8556441068649292, -2.604029893875122], [12.859700202941895, 1.1702649593353271, -3.0680599212646484]]", "geodesic_distance": 9.67598819732666, "gt_locations": "[[5.681706428527832, 1.3293702602386475, 1.0103439092636108], [5.85848331451416, 1.3031105995178223, 1.1871205568313599], [6.0749897956848145, 1.3652102947235107, 1.0621205568313599], [6.139694690704346, 1.3168643712997437, 0.8206391334533691], [6.0749897956848145, 1.0057289600372314, 0.5791576504707336], [6.010284900665283, 1.0057289600372314, 0.33767616748809814], [6.0749897956848145, 1.0057289600372314, 0.09619471430778503], [6.0749897956848145, 1.0057289600372314, -0.15380528569221497], [6.291496276855469, 1.0057289600372314, -0.31601524353027344], [6.416496276855469, 0.9611322283744812, -0.5325216054916382], [6.666496276855469, 0.9419015049934387, -0.5325214862823486], [6.916496276855469, 0.8900021314620972, -0.5325213670730591], [7.166496276855469, 0.8130791187286377, -0.5325212478637695], [7.416496276855469, 0.80572909116745, -0.53252112865448], [7.666496276855469, 0.80572909116745, -0.5325210094451904], [7.916496276855469, 0.80572909116745, -0.5325208902359009], [8.157978057861328, 0.80572909116745, -0.4678160548210144], [8.399459838867188, 0.80572909116745, -0.40311121940612793], [8.640941619873047, 0.80572909116745, -0.33840638399124146], [8.860567092895508, 0.80572909116745, -0.4592471718788147], [9.037343978881836, 0.80572909116745, -0.6360238194465637], [9.214120864868164, 0.80572909116745, -0.8128004670143127], [9.390897750854492, 0.80572909116745, -0.9895771145820618], [9.515897750854492, 0.80572909116745, -1.2060834169387817], [9.640897750854492, 0.80572909116745, -1.4225897789001465], [9.81767463684082, 0.80572909116745, -1.5993664264678955], [9.994451522827148, 0.80572909116745, -1.7761430740356445], [10.171228408813477, 0.80572909116745, -1.9529197216033936], [10.387734413146973, 0.80572909116745, -2.0779197216033936], [10.604240417480469, 0.80572909116745, -2.2029197216033936], [10.820746421813965, 0.80572909116745, -2.3279197216033936], [11.037252426147461, 0.8283892273902893, -2.4529197216033936], [11.27873420715332, 0.8608091473579407, -2.5176243782043457], [11.52021598815918, 0.8932291269302368, -2.582329034805298], [11.761697769165039, 0.925649106502533, -2.64703369140625], [12.003179550170898, 0.9878842234611511, -2.711738348007202], [12.244661331176758, 1.0511305332183838, -2.7764430046081543], [12.461167335510254, 1.1070888042449951, -2.9014430046081543]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 1, 2, 2, 2, 1, 2, 2, 1, 1, 3, 3, 1, 2, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 578, "episode_id": "579", "scene_id": "Uxmj2M2itWa", "instruction": "Exit the bathroom. Turn right and then left to exit the room using the door on the left. Go up the stairs on the right. Go up two steps then stop there. ", "start_position": [5.681706428527832, 1.3293702602386475, 1.0103439092636108], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [12.859700202941895, 1.1702649593353271, -3.0680599212646484], "goal_radius": 3.0, "reference_path": "[[5.681706428527832, 1.3293702602386475, 1.0103439092636108], [6.002910137176514, 1.0057289600372314, 0.05610790103673935], [6.74029016494751, 0.8751678466796875, -0.7971029877662659], [9.801210403442383, 0.80572909116745, -1.6233199834823608], [11.137100219726562, 0.8556441068649292, -2.604029893875122], [12.859700202941895, 1.1702649593353271, -3.0680599212646484]]", "geodesic_distance": 9.67598819732666, "gt_locations": "[[5.681706428527832, 1.3293702602386475, 1.0103439092636108], [5.85848331451416, 1.3031105995178223, 1.1871205568313599], [6.0749897956848145, 1.3652102947235107, 1.0621205568313599], [6.139694690704346, 1.3168643712997437, 0.8206391334533691], [6.0749897956848145, 1.0057289600372314, 0.5791576504707336], [6.010284900665283, 1.0057289600372314, 0.33767616748809814], [6.0749897956848145, 1.0057289600372314, 0.09619471430778503], [6.0749897956848145, 1.0057289600372314, -0.15380528569221497], [6.291496276855469, 1.0057289600372314, -0.31601524353027344], [6.416496276855469, 0.9611322283744812, -0.5325216054916382], [6.666496276855469, 0.9419015049934387, -0.5325214862823486], [6.916496276855469, 0.8900021314620972, -0.5325213670730591], [7.166496276855469, 0.8130791187286377, -0.5325212478637695], [7.416496276855469, 0.80572909116745, -0.53252112865448], [7.666496276855469, 0.80572909116745, -0.5325210094451904], [7.916496276855469, 0.80572909116745, -0.5325208902359009], [8.157978057861328, 0.80572909116745, -0.4678160548210144], [8.399459838867188, 0.80572909116745, -0.40311121940612793], [8.640941619873047, 0.80572909116745, -0.33840638399124146], [8.860567092895508, 0.80572909116745, -0.4592471718788147], [9.037343978881836, 0.80572909116745, -0.6360238194465637], [9.214120864868164, 0.80572909116745, -0.8128004670143127], [9.390897750854492, 0.80572909116745, -0.9895771145820618], [9.515897750854492, 0.80572909116745, -1.2060834169387817], [9.640897750854492, 0.80572909116745, -1.4225897789001465], [9.81767463684082, 0.80572909116745, -1.5993664264678955], [9.994451522827148, 0.80572909116745, -1.7761430740356445], [10.171228408813477, 0.80572909116745, -1.9529197216033936], [10.387734413146973, 0.80572909116745, -2.0779197216033936], [10.604240417480469, 0.80572909116745, -2.2029197216033936], [10.820746421813965, 0.80572909116745, -2.3279197216033936], [11.037252426147461, 0.8283892273902893, -2.4529197216033936], [11.27873420715332, 0.8608091473579407, -2.5176243782043457], [11.52021598815918, 0.8932291269302368, -2.582329034805298], [11.761697769165039, 0.925649106502533, -2.64703369140625], [12.003179550170898, 0.9878842234611511, -2.711738348007202], [12.244661331176758, 1.0511305332183838, -2.7764430046081543], [12.461167335510254, 1.1070888042449951, -2.9014430046081543]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 1, 2, 2, 2, 1, 2, 2, 1, 1, 3, 3, 1, 2, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 579, "episode_id": "580", "scene_id": "Uxmj2M2itWa", "instruction": "Turn right and exit the bathroom, turn right and go forward out of the bedroom, wait at the base of the stairs. ", "start_position": [5.681706428527832, 1.3293702602386475, 1.0103439092636108], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [12.859700202941895, 1.1702649593353271, -3.0680599212646484], "goal_radius": 3.0, "reference_path": "[[5.681706428527832, 1.3293702602386475, 1.0103439092636108], [6.002910137176514, 1.0057289600372314, 0.05610790103673935], [6.74029016494751, 0.8751678466796875, -0.7971029877662659], [9.801210403442383, 0.80572909116745, -1.6233199834823608], [11.137100219726562, 0.8556441068649292, -2.604029893875122], [12.859700202941895, 1.1702649593353271, -3.0680599212646484]]", "geodesic_distance": 9.67598819732666, "gt_locations": "[[5.681706428527832, 1.3293702602386475, 1.0103439092636108], [5.85848331451416, 1.3031105995178223, 1.1871205568313599], [6.0749897956848145, 1.3652102947235107, 1.0621205568313599], [6.139694690704346, 1.3168643712997437, 0.8206391334533691], [6.0749897956848145, 1.0057289600372314, 0.5791576504707336], [6.010284900665283, 1.0057289600372314, 0.33767616748809814], [6.0749897956848145, 1.0057289600372314, 0.09619471430778503], [6.0749897956848145, 1.0057289600372314, -0.15380528569221497], [6.291496276855469, 1.0057289600372314, -0.31601524353027344], [6.416496276855469, 0.9611322283744812, -0.5325216054916382], [6.666496276855469, 0.9419015049934387, -0.5325214862823486], [6.916496276855469, 0.8900021314620972, -0.5325213670730591], [7.166496276855469, 0.8130791187286377, -0.5325212478637695], [7.416496276855469, 0.80572909116745, -0.53252112865448], [7.666496276855469, 0.80572909116745, -0.5325210094451904], [7.916496276855469, 0.80572909116745, -0.5325208902359009], [8.157978057861328, 0.80572909116745, -0.4678160548210144], [8.399459838867188, 0.80572909116745, -0.40311121940612793], [8.640941619873047, 0.80572909116745, -0.33840638399124146], [8.860567092895508, 0.80572909116745, -0.4592471718788147], [9.037343978881836, 0.80572909116745, -0.6360238194465637], [9.214120864868164, 0.80572909116745, -0.8128004670143127], [9.390897750854492, 0.80572909116745, -0.9895771145820618], [9.515897750854492, 0.80572909116745, -1.2060834169387817], [9.640897750854492, 0.80572909116745, -1.4225897789001465], [9.81767463684082, 0.80572909116745, -1.5993664264678955], [9.994451522827148, 0.80572909116745, -1.7761430740356445], [10.171228408813477, 0.80572909116745, -1.9529197216033936], [10.387734413146973, 0.80572909116745, -2.0779197216033936], [10.604240417480469, 0.80572909116745, -2.2029197216033936], [10.820746421813965, 0.80572909116745, -2.3279197216033936], [11.037252426147461, 0.8283892273902893, -2.4529197216033936], [11.27873420715332, 0.8608091473579407, -2.5176243782043457], [11.52021598815918, 0.8932291269302368, -2.582329034805298], [11.761697769165039, 0.925649106502533, -2.64703369140625], [12.003179550170898, 0.9878842234611511, -2.711738348007202], [12.244661331176758, 1.0511305332183838, -2.7764430046081543], [12.461167335510254, 1.1070888042449951, -2.9014430046081543]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 2, 2, 2, 2, 2, 1, 2, 2, 2, 1, 2, 2, 1, 1, 3, 3, 1, 2, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 0]"}
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{"id": 583, "episode_id": "584", "scene_id": "759xd9YjKW5", "instruction": "Walk past the couches and through the arch and past the stairs on the right. Turn left and wait near the couches. ", "start_position": [-0.155349999666214, 0.09666500240564346, -2.318819999694824], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-11.595999717712402, 0.09666500240564346, 3.297100067138672], "goal_radius": 3.0, "reference_path": "[[-0.155349999666214, 0.09666500240564346, -2.318819999694824], [-2.5143399238586426, 0.09666500240564346, -2.1629199981689453], [-6.88992977142334, 0.09666500240564346, -0.9950820207595825], [-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-11.595999717712402, 0.09666500240564346, 3.297100067138672]]", "geodesic_distance": 13.03534984588623, "gt_locations": "[[-0.155349999666214, 0.09666500240564346, -2.318819999694824], [-0.405349999666214, 0.09666500240564346, -2.318819999694824], [-0.6553499698638916, 0.09666500240564346, -2.318819999694824], [-0.9053499698638916, 0.09666500240564346, -2.318819999694824], [-1.1553499698638916, 0.09666500240564346, -2.318819999694824], [-1.4053499698638916, 0.09666500240564346, -2.318819999694824], [-1.6553499698638916, 0.09666500240564346, -2.318819999694824], [-1.8968313932418823, 0.09666500240564346, -2.254115104675293], [-2.138312816619873, 0.09666500240564346, -2.1894102096557617], [-2.3797943592071533, 0.09666500240564346, -2.1247053146362305], [-2.6212759017944336, 0.09666500240564346, -2.060000419616699], [-2.862757444381714, 0.09666500240564346, -1.9952956438064575], [-3.104238986968994, 0.09666500240564346, -1.9305908679962158], [-3.3457205295562744, 0.09666500240564346, -1.8658860921859741], [-3.5872020721435547, 0.09666500240564346, -1.8011813163757324], [-3.828683614730835, 0.09666500240564346, -1.7364765405654907], [-4.070165157318115, 0.09666500240564346, -1.671771764755249], [-4.311646461486816, 0.09666500240564346, -1.6070669889450073], [-4.553127765655518, 0.09666500240564346, -1.5423622131347656], [-4.794609069824219, 0.09666500240564346, -1.477657437324524], [-5.03609037399292, 0.09666500240564346, -1.4129526615142822], [-5.277571678161621, 0.09666500240564346, -1.3482478857040405], [-5.519052982330322, 0.09666500240564346, -1.2835431098937988], [-5.760534286499023, 0.09666500240564346, -1.2188383340835571], [-6.002015590667725, 0.09666500240564346, -1.1541335582733154], [-6.243496894836426, 0.09666500240564346, -1.0894287824630737], [-6.484978199005127, 0.09666500240564346, -1.024724006652832], [-6.701484680175781, 0.09666500240564346, -0.899724006652832], [-6.9179911613464355, 0.09666500240564346, -0.774724006652832], [-7.13449764251709, 0.09666500240564346, -0.649724006652832], [-7.351004123687744, 0.09666500240564346, -0.524724006652832], [-7.567510604858398, 0.09666500240564346, -0.39972397685050964], [-7.784017086029053, 0.09666500240564346, -0.27472394704818726], [-8.000523567199707, 0.09666500240564346, -0.14972391724586487], [-8.217029571533203, 0.09666500240564346, -0.02472388744354248], [-8.4335355758667, 0.09666500240564346, 0.10027614235877991], [-8.650041580200195, 0.09666500240564346, 0.2252761721611023], [-8.866547584533691, 0.09666500240564346, 0.3502762019634247], [-9.083053588867188, 0.09666500240564346, 0.47527623176574707], [-9.299559593200684, 0.09666500240564346, 0.6002762317657471], [-9.51606559753418, 0.09666500240564346, 0.7252762317657471], [-9.692842483520508, 0.09666500240564346, 0.9020529985427856], [-9.869619369506836, 0.09666500240564346, 1.0788297653198242], [-10.086125373840332, 0.09666500240564346, 1.2038297653198242], [-10.26290225982666, 0.09666500240564346, 1.3806065320968628], [-10.38790225982666, 0.09666500240564346, 1.597113013267517], [-10.51290225982666, 0.09666500240564346, 1.8136194944381714], [-10.63790225982666, 0.09666500240564346, 2.030125856399536], [-10.76290225982666, 0.09666500240564346, 2.2466323375701904], [-10.88790225982666, 0.09666500240564346, 2.4631388187408447], [-11.064679145812988, 0.09666500240564346, 2.6399154663085938], [-11.241456031799316, 0.09666500240564346, 2.8166921138763428], [-11.418232917785645, 0.09666500240564346, 2.993468761444092]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 584, "episode_id": "585", "scene_id": "759xd9YjKW5", "instruction": "Walk past the coffee table and through the entryway. Walk through the entryway across from the stairs and stop in from of the armoire. ", "start_position": [-0.155349999666214, 0.09666500240564346, -2.318819999694824], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-11.595999717712402, 0.09666500240564346, 3.297100067138672], "goal_radius": 3.0, "reference_path": "[[-0.155349999666214, 0.09666500240564346, -2.318819999694824], [-2.5143399238586426, 0.09666500240564346, -2.1629199981689453], [-6.88992977142334, 0.09666500240564346, -0.9950820207595825], [-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-11.595999717712402, 0.09666500240564346, 3.297100067138672]]", "geodesic_distance": 13.03534984588623, "gt_locations": "[[-0.155349999666214, 0.09666500240564346, -2.318819999694824], [-0.405349999666214, 0.09666500240564346, -2.318819999694824], [-0.6553499698638916, 0.09666500240564346, -2.318819999694824], [-0.9053499698638916, 0.09666500240564346, -2.318819999694824], [-1.1553499698638916, 0.09666500240564346, -2.318819999694824], [-1.4053499698638916, 0.09666500240564346, -2.318819999694824], [-1.6553499698638916, 0.09666500240564346, -2.318819999694824], [-1.8968313932418823, 0.09666500240564346, -2.254115104675293], [-2.138312816619873, 0.09666500240564346, -2.1894102096557617], [-2.3797943592071533, 0.09666500240564346, -2.1247053146362305], [-2.6212759017944336, 0.09666500240564346, -2.060000419616699], [-2.862757444381714, 0.09666500240564346, -1.9952956438064575], [-3.104238986968994, 0.09666500240564346, -1.9305908679962158], [-3.3457205295562744, 0.09666500240564346, -1.8658860921859741], [-3.5872020721435547, 0.09666500240564346, -1.8011813163757324], [-3.828683614730835, 0.09666500240564346, -1.7364765405654907], [-4.070165157318115, 0.09666500240564346, -1.671771764755249], [-4.311646461486816, 0.09666500240564346, -1.6070669889450073], [-4.553127765655518, 0.09666500240564346, -1.5423622131347656], [-4.794609069824219, 0.09666500240564346, -1.477657437324524], [-5.03609037399292, 0.09666500240564346, -1.4129526615142822], [-5.277571678161621, 0.09666500240564346, -1.3482478857040405], [-5.519052982330322, 0.09666500240564346, -1.2835431098937988], [-5.760534286499023, 0.09666500240564346, -1.2188383340835571], [-6.002015590667725, 0.09666500240564346, -1.1541335582733154], [-6.243496894836426, 0.09666500240564346, -1.0894287824630737], [-6.484978199005127, 0.09666500240564346, -1.024724006652832], [-6.701484680175781, 0.09666500240564346, -0.899724006652832], [-6.9179911613464355, 0.09666500240564346, -0.774724006652832], [-7.13449764251709, 0.09666500240564346, -0.649724006652832], [-7.351004123687744, 0.09666500240564346, -0.524724006652832], [-7.567510604858398, 0.09666500240564346, -0.39972397685050964], [-7.784017086029053, 0.09666500240564346, -0.27472394704818726], [-8.000523567199707, 0.09666500240564346, -0.14972391724586487], [-8.217029571533203, 0.09666500240564346, -0.02472388744354248], [-8.4335355758667, 0.09666500240564346, 0.10027614235877991], [-8.650041580200195, 0.09666500240564346, 0.2252761721611023], [-8.866547584533691, 0.09666500240564346, 0.3502762019634247], [-9.083053588867188, 0.09666500240564346, 0.47527623176574707], [-9.299559593200684, 0.09666500240564346, 0.6002762317657471], [-9.51606559753418, 0.09666500240564346, 0.7252762317657471], [-9.692842483520508, 0.09666500240564346, 0.9020529985427856], [-9.869619369506836, 0.09666500240564346, 1.0788297653198242], [-10.086125373840332, 0.09666500240564346, 1.2038297653198242], [-10.26290225982666, 0.09666500240564346, 1.3806065320968628], [-10.38790225982666, 0.09666500240564346, 1.597113013267517], [-10.51290225982666, 0.09666500240564346, 1.8136194944381714], [-10.63790225982666, 0.09666500240564346, 2.030125856399536], [-10.76290225982666, 0.09666500240564346, 2.2466323375701904], [-10.88790225982666, 0.09666500240564346, 2.4631388187408447], [-11.064679145812988, 0.09666500240564346, 2.6399154663085938], [-11.241456031799316, 0.09666500240564346, 2.8166921138763428], [-11.418232917785645, 0.09666500240564346, 2.993468761444092]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 585, "episode_id": "586", "scene_id": "759xd9YjKW5", "instruction": "Turn ro your right and go pass the couch. Turn left and then turn right and stop by the couch. ", "start_position": [-0.155349999666214, 0.09666500240564346, -2.318819999694824], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-11.595999717712402, 0.09666500240564346, 3.297100067138672], "goal_radius": 3.0, "reference_path": "[[-0.155349999666214, 0.09666500240564346, -2.318819999694824], [-2.5143399238586426, 0.09666500240564346, -2.1629199981689453], [-6.88992977142334, 0.09666500240564346, -0.9950820207595825], [-10.293399810791016, 0.09666500240564346, 1.381369948387146], [-11.595999717712402, 0.09666500240564346, 3.297100067138672]]", "geodesic_distance": 13.03534984588623, "gt_locations": "[[-0.155349999666214, 0.09666500240564346, -2.318819999694824], [-0.405349999666214, 0.09666500240564346, -2.318819999694824], [-0.6553499698638916, 0.09666500240564346, -2.318819999694824], [-0.9053499698638916, 0.09666500240564346, -2.318819999694824], [-1.1553499698638916, 0.09666500240564346, -2.318819999694824], [-1.4053499698638916, 0.09666500240564346, -2.318819999694824], [-1.6553499698638916, 0.09666500240564346, -2.318819999694824], [-1.8968313932418823, 0.09666500240564346, -2.254115104675293], [-2.138312816619873, 0.09666500240564346, -2.1894102096557617], [-2.3797943592071533, 0.09666500240564346, -2.1247053146362305], [-2.6212759017944336, 0.09666500240564346, -2.060000419616699], [-2.862757444381714, 0.09666500240564346, -1.9952956438064575], [-3.104238986968994, 0.09666500240564346, -1.9305908679962158], [-3.3457205295562744, 0.09666500240564346, -1.8658860921859741], [-3.5872020721435547, 0.09666500240564346, -1.8011813163757324], [-3.828683614730835, 0.09666500240564346, -1.7364765405654907], [-4.070165157318115, 0.09666500240564346, -1.671771764755249], [-4.311646461486816, 0.09666500240564346, -1.6070669889450073], [-4.553127765655518, 0.09666500240564346, -1.5423622131347656], [-4.794609069824219, 0.09666500240564346, -1.477657437324524], [-5.03609037399292, 0.09666500240564346, -1.4129526615142822], [-5.277571678161621, 0.09666500240564346, -1.3482478857040405], [-5.519052982330322, 0.09666500240564346, -1.2835431098937988], [-5.760534286499023, 0.09666500240564346, -1.2188383340835571], [-6.002015590667725, 0.09666500240564346, -1.1541335582733154], [-6.243496894836426, 0.09666500240564346, -1.0894287824630737], [-6.484978199005127, 0.09666500240564346, -1.024724006652832], [-6.701484680175781, 0.09666500240564346, -0.899724006652832], [-6.9179911613464355, 0.09666500240564346, -0.774724006652832], [-7.13449764251709, 0.09666500240564346, -0.649724006652832], [-7.351004123687744, 0.09666500240564346, -0.524724006652832], [-7.567510604858398, 0.09666500240564346, -0.39972397685050964], [-7.784017086029053, 0.09666500240564346, -0.27472394704818726], [-8.000523567199707, 0.09666500240564346, -0.14972391724586487], [-8.217029571533203, 0.09666500240564346, -0.02472388744354248], [-8.4335355758667, 0.09666500240564346, 0.10027614235877991], [-8.650041580200195, 0.09666500240564346, 0.2252761721611023], [-8.866547584533691, 0.09666500240564346, 0.3502762019634247], [-9.083053588867188, 0.09666500240564346, 0.47527623176574707], [-9.299559593200684, 0.09666500240564346, 0.6002762317657471], [-9.51606559753418, 0.09666500240564346, 0.7252762317657471], [-9.692842483520508, 0.09666500240564346, 0.9020529985427856], [-9.869619369506836, 0.09666500240564346, 1.0788297653198242], [-10.086125373840332, 0.09666500240564346, 1.2038297653198242], [-10.26290225982666, 0.09666500240564346, 1.3806065320968628], [-10.38790225982666, 0.09666500240564346, 1.597113013267517], [-10.51290225982666, 0.09666500240564346, 1.8136194944381714], [-10.63790225982666, 0.09666500240564346, 2.030125856399536], [-10.76290225982666, 0.09666500240564346, 2.2466323375701904], [-10.88790225982666, 0.09666500240564346, 2.4631388187408447], [-11.064679145812988, 0.09666500240564346, 2.6399154663085938], [-11.241456031799316, 0.09666500240564346, 2.8166921138763428], [-11.418232917785645, 0.09666500240564346, 2.993468761444092]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 586, "episode_id": "587", "scene_id": "5q7pvUzZiYa", "instruction": "Walk behind couch toward windows, turn left, walk past windows, stop at wood wall. ", "start_position": [3.4699900150299072, 3.203425407409668, -1.6597100496292114], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [9.610549926757812, 3.203425407409668, 0.7540670037269592], "goal_radius": 3.0, "reference_path": "[[3.4699900150299072, 3.203425407409668, -1.6597100496292114], [4.034890174865723, 3.203425407409668, 0.3001039922237396], [5.724780082702637, 3.203425407409668, 0.37062400579452515], [7.914690017700195, 3.203425407409668, 0.42166799306869507], [9.610549926757812, 3.203425407409668, 0.7540670037269592]]", "geodesic_distance": 7.73178243637085, "gt_locations": "[[3.4699900150299072, 3.203425407409668, -1.6597100496292114], [3.5346949100494385, 3.203425407409668, -1.4182286262512207], [3.5993998050689697, 3.203425407409668, -1.1767470836639404], [3.664104700088501, 3.203425407409668, -0.9352656006813049], [3.7288095951080322, 3.203425407409668, -0.6937841176986694], [3.7935144901275635, 3.203425407409668, -0.45230263471603394], [3.8582193851470947, 3.203425407409668, -0.21082115173339844], [3.922924280166626, 3.203425407409668, 0.03066033124923706], [4.099700927734375, 3.203425407409668, 0.20743700861930847], [4.276477813720703, 3.203425407409668, 0.3842136859893799], [4.401477813720703, 3.203425407409668, 0.6007200479507446], [4.578254699707031, 3.203425407409668, 0.7774966955184937], [4.8199615478515625, 3.203425407409668, 0.8428788781166077], [5.036468029022217, 3.203425407409668, 0.7178789377212524], [5.252974510192871, 3.203425407409668, 0.5928789377212524], [5.469480991363525, 3.203425407409668, 0.46787896752357483], [5.719480991363525, 3.203425407409668, 0.4678789973258972], [5.969480991363525, 3.203425407409668, 0.4678790271282196], [6.219480991363525, 3.203425407409668, 0.467879056930542], [6.469480991363525, 3.203425407409668, 0.4678790867328644], [6.719480991363525, 3.203425407409668, 0.46787911653518677], [6.969480991363525, 3.203425407409668, 0.46787914633750916], [7.219480991363525, 3.203425407409668, 0.46787917613983154], [7.469480991363525, 3.203425407409668, 0.46787920594215393], [7.719480991363525, 3.203425407409668, 0.4678792357444763], [7.969480991363525, 3.203425407409668, 0.4678792655467987], [8.210962295532227, 3.203425407409668, 0.5325840711593628], [8.452444076538086, 3.203425407409668, 0.5972888469696045], [8.693925857543945, 3.203425407409668, 0.6619936227798462], [8.935407638549805, 3.203425407409668, 0.7266983985900879], [9.185407638549805, 3.203425407409668, 0.7266983985900879]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 587, "episode_id": "588", "scene_id": "5q7pvUzZiYa", "instruction": "Turn right and pass by the table. Continue down the wall and stop. ", "start_position": [3.4699900150299072, 3.203425407409668, -1.6597100496292114], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [9.610549926757812, 3.203425407409668, 0.7540670037269592], "goal_radius": 3.0, "reference_path": "[[3.4699900150299072, 3.203425407409668, -1.6597100496292114], [4.034890174865723, 3.203425407409668, 0.3001039922237396], [5.724780082702637, 3.203425407409668, 0.37062400579452515], [7.914690017700195, 3.203425407409668, 0.42166799306869507], [9.610549926757812, 3.203425407409668, 0.7540670037269592]]", "geodesic_distance": 7.73178243637085, "gt_locations": "[[3.4699900150299072, 3.203425407409668, -1.6597100496292114], [3.5346949100494385, 3.203425407409668, -1.4182286262512207], [3.5993998050689697, 3.203425407409668, -1.1767470836639404], [3.664104700088501, 3.203425407409668, -0.9352656006813049], [3.7288095951080322, 3.203425407409668, -0.6937841176986694], [3.7935144901275635, 3.203425407409668, -0.45230263471603394], [3.8582193851470947, 3.203425407409668, -0.21082115173339844], [3.922924280166626, 3.203425407409668, 0.03066033124923706], [4.099700927734375, 3.203425407409668, 0.20743700861930847], [4.276477813720703, 3.203425407409668, 0.3842136859893799], [4.401477813720703, 3.203425407409668, 0.6007200479507446], [4.578254699707031, 3.203425407409668, 0.7774966955184937], [4.8199615478515625, 3.203425407409668, 0.8428788781166077], [5.036468029022217, 3.203425407409668, 0.7178789377212524], [5.252974510192871, 3.203425407409668, 0.5928789377212524], [5.469480991363525, 3.203425407409668, 0.46787896752357483], [5.719480991363525, 3.203425407409668, 0.4678789973258972], [5.969480991363525, 3.203425407409668, 0.4678790271282196], [6.219480991363525, 3.203425407409668, 0.467879056930542], [6.469480991363525, 3.203425407409668, 0.4678790867328644], [6.719480991363525, 3.203425407409668, 0.46787911653518677], [6.969480991363525, 3.203425407409668, 0.46787914633750916], [7.219480991363525, 3.203425407409668, 0.46787917613983154], [7.469480991363525, 3.203425407409668, 0.46787920594215393], [7.719480991363525, 3.203425407409668, 0.4678792357444763], [7.969480991363525, 3.203425407409668, 0.4678792655467987], [8.210962295532227, 3.203425407409668, 0.5325840711593628], [8.452444076538086, 3.203425407409668, 0.5972888469696045], [8.693925857543945, 3.203425407409668, 0.6619936227798462], [8.935407638549805, 3.203425407409668, 0.7266983985900879], [9.185407638549805, 3.203425407409668, 0.7266983985900879]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 588, "episode_id": "589", "scene_id": "5q7pvUzZiYa", "instruction": "Walk past the fireplace and to the left. top in the entryway of the kitchen. ", "start_position": [3.4699900150299072, 3.203425407409668, -1.6597100496292114], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [9.610549926757812, 3.203425407409668, 0.7540670037269592], "goal_radius": 3.0, "reference_path": "[[3.4699900150299072, 3.203425407409668, -1.6597100496292114], [4.034890174865723, 3.203425407409668, 0.3001039922237396], [5.724780082702637, 3.203425407409668, 0.37062400579452515], [7.914690017700195, 3.203425407409668, 0.42166799306869507], [9.610549926757812, 3.203425407409668, 0.7540670037269592]]", "geodesic_distance": 7.73178243637085, "gt_locations": "[[3.4699900150299072, 3.203425407409668, -1.6597100496292114], [3.5346949100494385, 3.203425407409668, -1.4182286262512207], [3.5993998050689697, 3.203425407409668, -1.1767470836639404], [3.664104700088501, 3.203425407409668, -0.9352656006813049], [3.7288095951080322, 3.203425407409668, -0.6937841176986694], [3.7935144901275635, 3.203425407409668, -0.45230263471603394], [3.8582193851470947, 3.203425407409668, -0.21082115173339844], [3.922924280166626, 3.203425407409668, 0.03066033124923706], [4.099700927734375, 3.203425407409668, 0.20743700861930847], [4.276477813720703, 3.203425407409668, 0.3842136859893799], [4.401477813720703, 3.203425407409668, 0.6007200479507446], [4.578254699707031, 3.203425407409668, 0.7774966955184937], [4.8199615478515625, 3.203425407409668, 0.8428788781166077], [5.036468029022217, 3.203425407409668, 0.7178789377212524], [5.252974510192871, 3.203425407409668, 0.5928789377212524], [5.469480991363525, 3.203425407409668, 0.46787896752357483], [5.719480991363525, 3.203425407409668, 0.4678789973258972], [5.969480991363525, 3.203425407409668, 0.4678790271282196], [6.219480991363525, 3.203425407409668, 0.467879056930542], [6.469480991363525, 3.203425407409668, 0.4678790867328644], [6.719480991363525, 3.203425407409668, 0.46787911653518677], [6.969480991363525, 3.203425407409668, 0.46787914633750916], [7.219480991363525, 3.203425407409668, 0.46787917613983154], [7.469480991363525, 3.203425407409668, 0.46787920594215393], [7.719480991363525, 3.203425407409668, 0.4678792357444763], [7.969480991363525, 3.203425407409668, 0.4678792655467987], [8.210962295532227, 3.203425407409668, 0.5325840711593628], [8.452444076538086, 3.203425407409668, 0.5972888469696045], [8.693925857543945, 3.203425407409668, 0.6619936227798462], [8.935407638549805, 3.203425407409668, 0.7266983985900879], [9.185407638549805, 3.203425407409668, 0.7266983985900879]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 3, 1, 2, 1, 2, 2, 1, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 589, "episode_id": "590", "scene_id": "1LXtFkjw3qL", "instruction": "Exit the room to the left of the bookshelves, go straight through, turn left after the plant, cross the room to the right of the television, step near the glass door and stop. 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{"id": 590, "episode_id": "591", "scene_id": "1LXtFkjw3qL", "instruction": "Exit the room. Turn left. Turn left again. Go past the green couch and then turn right. Wait near there. 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{"id": 591, "episode_id": "592", "scene_id": "1LXtFkjw3qL", "instruction": "Walk past the bookshelves and out of the room. Walk past the potted plant and make a sharp turn left. Walk past the green couch and stop to the right of the television. 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{"id": 592, "episode_id": "593", "scene_id": "E9uDoFAP3SH", "instruction": "Go straight until you get to three windows. Wait in the window farthest to the left. ", "start_position": [-0.47356799244880676, 0.24438095092773438, 7.195189952850342], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-3.240920066833496, 0.24438095092773438, -5.288859844207764], "goal_radius": 3.0, "reference_path": "[[-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [-2.7539899349212646, 0.24438095092773438, 4.17917013168335], [-2.506589889526367, 0.24438095092773438, 0.6547679901123047], [-2.6666100025177, 0.24438095092773438, -2.7983601093292236], [-3.240920066833496, 0.24438095092773438, -5.288859844207764]]", "geodesic_distance": 12.798300743103027, "gt_locations": "[[-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [-0.5985679626464844, 0.24438095092773438, 6.9786834716796875], [-0.7235679626464844, 0.24438095092773438, 6.762176990509033], [-0.8485679626464844, 0.24438095092773438, 6.545670509338379], [-0.9735679626464844, 0.24438095092773438, 6.329164028167725], [-1.0985679626464844, 0.24438095092773438, 6.11265754699707], [-1.2753446102142334, 0.24438095092773438, 5.935880661010742], [-1.4521212577819824, 0.24438095092773438, 5.759103775024414], [-1.6288979053497314, 0.24438095092773438, 5.582326889038086], [-1.8056745529174805, 0.24438095092773438, 5.405550003051758], [-1.9824512004852295, 0.24438095092773438, 5.22877311706543], [-2.1592278480529785, 0.24438095092773438, 5.051996231079102], [-2.2842278480529785, 0.24438095092773438, 4.835489749908447], [-2.4092278480529785, 0.24438095092773438, 4.618983268737793], [-2.5342278480529785, 0.24438095092773438, 4.402476787567139], [-2.5342278480529785, 0.24438095092773438, 4.152476787567139], [-2.5342278480529785, 0.24438095092773438, 3.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 3.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 3.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 3.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 2.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 2.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 2.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 2.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 1.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 1.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 1.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 1.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 0.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 0.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 0.40247678756713867], [-2.5342278480529785, 0.24438095092773438, 0.15247678756713867], [-2.5342278480529785, 0.24438095092773438, -0.09752321243286133], [-2.5342278480529785, 0.24438095092773438, -0.34752321243286133], [-2.5342278480529785, 0.24438095092773438, -0.5975232124328613], [-2.5342278480529785, 0.24438095092773438, -0.8475232124328613], [-2.5342278480529785, 0.24438095092773438, -1.0975232124328613], [-2.5342278480529785, 0.24438095092773438, -1.3475232124328613], [-2.5342278480529785, 0.24438095092773438, -1.5975232124328613], [-2.5342278480529785, 0.24438095092773438, -1.8475232124328613], [-2.5342278480529785, 0.24438095092773438, -2.0975232124328613], [-2.5989325046539307, 0.24438095092773438, -2.3390047550201416], [-2.663637161254883, 0.24438095092773438, -2.580486297607422], [-2.728341817855835, 0.24438095092773438, -2.821967840194702], [-2.793046474456787, 0.24438095092773438, -3.0634493827819824], [-2.8577511310577393, 0.24438095092773438, -3.3049309253692627], [-2.9224557876586914, 0.24438095092773438, -3.546412467956543], [-2.9871604442596436, 0.24438095092773438, -3.7878940105438232], [-3.0518651008605957, 0.24438095092773438, -4.0293755531311035], [-3.116569757461548, 0.24438095092773438, -4.270856857299805], [-3.1812744140625, 0.24438095092773438, -4.512338161468506], [-3.1812744140625, 0.24438095092773438, -4.762338161468506], [-3.1812744140625, 0.24438095092773438, -5.012338161468506]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 593, "episode_id": "594", "scene_id": "E9uDoFAP3SH", "instruction": "Walk down the room on the left side.  Stop in front of the big windows on the left looking out onto some marble columns outside. ", "start_position": [-0.47356799244880676, 0.24438095092773438, 7.195189952850342], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-3.240920066833496, 0.24438095092773438, -5.288859844207764], "goal_radius": 3.0, "reference_path": "[[-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [-2.7539899349212646, 0.24438095092773438, 4.17917013168335], [-2.506589889526367, 0.24438095092773438, 0.6547679901123047], [-2.6666100025177, 0.24438095092773438, -2.7983601093292236], [-3.240920066833496, 0.24438095092773438, -5.288859844207764]]", "geodesic_distance": 12.798300743103027, "gt_locations": "[[-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [-0.5985679626464844, 0.24438095092773438, 6.9786834716796875], [-0.7235679626464844, 0.24438095092773438, 6.762176990509033], [-0.8485679626464844, 0.24438095092773438, 6.545670509338379], [-0.9735679626464844, 0.24438095092773438, 6.329164028167725], [-1.0985679626464844, 0.24438095092773438, 6.11265754699707], [-1.2753446102142334, 0.24438095092773438, 5.935880661010742], [-1.4521212577819824, 0.24438095092773438, 5.759103775024414], [-1.6288979053497314, 0.24438095092773438, 5.582326889038086], [-1.8056745529174805, 0.24438095092773438, 5.405550003051758], [-1.9824512004852295, 0.24438095092773438, 5.22877311706543], [-2.1592278480529785, 0.24438095092773438, 5.051996231079102], [-2.2842278480529785, 0.24438095092773438, 4.835489749908447], [-2.4092278480529785, 0.24438095092773438, 4.618983268737793], [-2.5342278480529785, 0.24438095092773438, 4.402476787567139], [-2.5342278480529785, 0.24438095092773438, 4.152476787567139], [-2.5342278480529785, 0.24438095092773438, 3.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 3.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 3.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 3.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 2.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 2.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 2.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 2.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 1.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 1.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 1.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 1.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 0.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 0.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 0.40247678756713867], [-2.5342278480529785, 0.24438095092773438, 0.15247678756713867], [-2.5342278480529785, 0.24438095092773438, -0.09752321243286133], [-2.5342278480529785, 0.24438095092773438, -0.34752321243286133], [-2.5342278480529785, 0.24438095092773438, -0.5975232124328613], [-2.5342278480529785, 0.24438095092773438, -0.8475232124328613], [-2.5342278480529785, 0.24438095092773438, -1.0975232124328613], [-2.5342278480529785, 0.24438095092773438, -1.3475232124328613], [-2.5342278480529785, 0.24438095092773438, -1.5975232124328613], [-2.5342278480529785, 0.24438095092773438, -1.8475232124328613], [-2.5342278480529785, 0.24438095092773438, -2.0975232124328613], [-2.5989325046539307, 0.24438095092773438, -2.3390047550201416], [-2.663637161254883, 0.24438095092773438, -2.580486297607422], [-2.728341817855835, 0.24438095092773438, -2.821967840194702], [-2.793046474456787, 0.24438095092773438, -3.0634493827819824], [-2.8577511310577393, 0.24438095092773438, -3.3049309253692627], [-2.9224557876586914, 0.24438095092773438, -3.546412467956543], [-2.9871604442596436, 0.24438095092773438, -3.7878940105438232], [-3.0518651008605957, 0.24438095092773438, -4.0293755531311035], [-3.116569757461548, 0.24438095092773438, -4.270856857299805], [-3.1812744140625, 0.24438095092773438, -4.512338161468506], [-3.1812744140625, 0.24438095092773438, -4.762338161468506], [-3.1812744140625, 0.24438095092773438, -5.012338161468506]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 594, "episode_id": "595", "scene_id": "E9uDoFAP3SH", "instruction": "Walk across the room and wait by the window on the left. ", "start_position": [-0.47356799244880676, 0.24438095092773438, 7.195189952850342], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-3.240920066833496, 0.24438095092773438, -5.288859844207764], "goal_radius": 3.0, "reference_path": "[[-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [-2.7539899349212646, 0.24438095092773438, 4.17917013168335], [-2.506589889526367, 0.24438095092773438, 0.6547679901123047], [-2.6666100025177, 0.24438095092773438, -2.7983601093292236], [-3.240920066833496, 0.24438095092773438, -5.288859844207764]]", "geodesic_distance": 12.798300743103027, "gt_locations": "[[-0.47356799244880676, 0.24438095092773438, 7.195189952850342], [-0.5985679626464844, 0.24438095092773438, 6.9786834716796875], [-0.7235679626464844, 0.24438095092773438, 6.762176990509033], [-0.8485679626464844, 0.24438095092773438, 6.545670509338379], [-0.9735679626464844, 0.24438095092773438, 6.329164028167725], [-1.0985679626464844, 0.24438095092773438, 6.11265754699707], [-1.2753446102142334, 0.24438095092773438, 5.935880661010742], [-1.4521212577819824, 0.24438095092773438, 5.759103775024414], [-1.6288979053497314, 0.24438095092773438, 5.582326889038086], [-1.8056745529174805, 0.24438095092773438, 5.405550003051758], [-1.9824512004852295, 0.24438095092773438, 5.22877311706543], [-2.1592278480529785, 0.24438095092773438, 5.051996231079102], [-2.2842278480529785, 0.24438095092773438, 4.835489749908447], [-2.4092278480529785, 0.24438095092773438, 4.618983268737793], [-2.5342278480529785, 0.24438095092773438, 4.402476787567139], [-2.5342278480529785, 0.24438095092773438, 4.152476787567139], [-2.5342278480529785, 0.24438095092773438, 3.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 3.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 3.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 3.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 2.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 2.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 2.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 2.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 1.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 1.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 1.4024767875671387], [-2.5342278480529785, 0.24438095092773438, 1.1524767875671387], [-2.5342278480529785, 0.24438095092773438, 0.9024767875671387], [-2.5342278480529785, 0.24438095092773438, 0.6524767875671387], [-2.5342278480529785, 0.24438095092773438, 0.40247678756713867], [-2.5342278480529785, 0.24438095092773438, 0.15247678756713867], [-2.5342278480529785, 0.24438095092773438, -0.09752321243286133], [-2.5342278480529785, 0.24438095092773438, -0.34752321243286133], [-2.5342278480529785, 0.24438095092773438, -0.5975232124328613], [-2.5342278480529785, 0.24438095092773438, -0.8475232124328613], [-2.5342278480529785, 0.24438095092773438, -1.0975232124328613], [-2.5342278480529785, 0.24438095092773438, -1.3475232124328613], [-2.5342278480529785, 0.24438095092773438, -1.5975232124328613], [-2.5342278480529785, 0.24438095092773438, -1.8475232124328613], [-2.5342278480529785, 0.24438095092773438, -2.0975232124328613], [-2.5989325046539307, 0.24438095092773438, -2.3390047550201416], [-2.663637161254883, 0.24438095092773438, -2.580486297607422], [-2.728341817855835, 0.24438095092773438, -2.821967840194702], [-2.793046474456787, 0.24438095092773438, -3.0634493827819824], [-2.8577511310577393, 0.24438095092773438, -3.3049309253692627], [-2.9224557876586914, 0.24438095092773438, -3.546412467956543], [-2.9871604442596436, 0.24438095092773438, -3.7878940105438232], [-3.0518651008605957, 0.24438095092773438, -4.0293755531311035], [-3.116569757461548, 0.24438095092773438, -4.270856857299805], [-3.1812744140625, 0.24438095092773438, -4.512338161468506], [-3.1812744140625, 0.24438095092773438, -4.762338161468506], [-3.1812744140625, 0.24438095092773438, -5.012338161468506]]", "gt_actions": "[1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 595, "episode_id": "596", "scene_id": "ULsKaCPVFJR", "instruction": "Walk through the bathroom, past the sink and toilet. Stop in front of the counter with the two suitcase. ", "start_position": [7.865640163421631, 0.08356200158596039, 15.447999954223633], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [3.8112900257110596, 0.08356200158596039, 11.247699737548828], "goal_radius": 3.0, "reference_path": "[[7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [3.8112900257110596, 0.08356200158596039, 11.247699737548828]]", "geodesic_distance": 5.837831497192383, "gt_locations": "[[7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.688863277435303, 0.08356200158596039, 15.271223068237305], [7.512086391448975, 0.08356200158596039, 15.094446182250977], [7.3353095054626465, 0.08356200158596039, 14.917669296264648], [7.158532619476318, 0.08356200158596039, 14.74089241027832], [6.98175573348999, 0.08356200158596039, 14.564115524291992], [6.804978847503662, 0.08356200158596039, 14.387338638305664], [6.628201961517334, 0.08356200158596039, 14.210561752319336], [6.451425075531006, 0.08356200158596039, 14.033784866333008], [6.274648189544678, 0.08356200158596039, 13.85700798034668], [6.09787130355835, 0.08356200158596039, 13.680231094360352], [5.9210944175720215, 0.08356200158596039, 13.503454208374023], [5.744317531585693, 0.08356200158596039, 13.326677322387695], [5.567540645599365, 0.08356200158596039, 13.149900436401367], [5.390763759613037, 0.08356200158596039, 12.973123550415039], [5.213986873626709, 0.08356200158596039, 12.796346664428711], [5.088986873626709, 0.08356200158596039, 12.579840660095215], [4.912209987640381, 0.08356200158596039, 12.403063774108887], [4.735433101654053, 0.08356200158596039, 12.226286888122559], [4.558656215667725, 0.08356200158596039, 12.04951000213623], [4.3818793296813965, 0.08356200158596039, 11.872733116149902], [4.205102443695068, 0.08356200158596039, 11.695956230163574], [4.02832555770874, 0.08356200158596039, 11.519179344177246]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 596, "episode_id": "597", "scene_id": "ULsKaCPVFJR", "instruction": "Walk through the bathroom. Enter the dressing area outside of the bathroom. Stop between the closets on the right. ", "start_position": [7.865640163421631, 0.08356200158596039, 15.447999954223633], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [3.8112900257110596, 0.08356200158596039, 11.247699737548828], "goal_radius": 3.0, "reference_path": "[[7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [3.8112900257110596, 0.08356200158596039, 11.247699737548828]]", "geodesic_distance": 5.837831497192383, "gt_locations": "[[7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.688863277435303, 0.08356200158596039, 15.271223068237305], [7.512086391448975, 0.08356200158596039, 15.094446182250977], [7.3353095054626465, 0.08356200158596039, 14.917669296264648], [7.158532619476318, 0.08356200158596039, 14.74089241027832], [6.98175573348999, 0.08356200158596039, 14.564115524291992], [6.804978847503662, 0.08356200158596039, 14.387338638305664], [6.628201961517334, 0.08356200158596039, 14.210561752319336], [6.451425075531006, 0.08356200158596039, 14.033784866333008], [6.274648189544678, 0.08356200158596039, 13.85700798034668], [6.09787130355835, 0.08356200158596039, 13.680231094360352], [5.9210944175720215, 0.08356200158596039, 13.503454208374023], [5.744317531585693, 0.08356200158596039, 13.326677322387695], [5.567540645599365, 0.08356200158596039, 13.149900436401367], [5.390763759613037, 0.08356200158596039, 12.973123550415039], [5.213986873626709, 0.08356200158596039, 12.796346664428711], [5.088986873626709, 0.08356200158596039, 12.579840660095215], [4.912209987640381, 0.08356200158596039, 12.403063774108887], [4.735433101654053, 0.08356200158596039, 12.226286888122559], [4.558656215667725, 0.08356200158596039, 12.04951000213623], [4.3818793296813965, 0.08356200158596039, 11.872733116149902], [4.205102443695068, 0.08356200158596039, 11.695956230163574], [4.02832555770874, 0.08356200158596039, 11.519179344177246]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 597, "episode_id": "598", "scene_id": "ULsKaCPVFJR", "instruction": "With the shower to your left, walk through the bathroom and stop in the closet area on the other side.  Stop in front of the mirror with the suitcases in front of it. ", "start_position": [7.865640163421631, 0.08356200158596039, 15.447999954223633], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [3.8112900257110596, 0.08356200158596039, 11.247699737548828], "goal_radius": 3.0, "reference_path": "[[7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [3.8112900257110596, 0.08356200158596039, 11.247699737548828]]", "geodesic_distance": 5.837831497192383, "gt_locations": "[[7.865640163421631, 0.08356200158596039, 15.447999954223633], [7.688863277435303, 0.08356200158596039, 15.271223068237305], [7.512086391448975, 0.08356200158596039, 15.094446182250977], [7.3353095054626465, 0.08356200158596039, 14.917669296264648], [7.158532619476318, 0.08356200158596039, 14.74089241027832], [6.98175573348999, 0.08356200158596039, 14.564115524291992], [6.804978847503662, 0.08356200158596039, 14.387338638305664], [6.628201961517334, 0.08356200158596039, 14.210561752319336], [6.451425075531006, 0.08356200158596039, 14.033784866333008], [6.274648189544678, 0.08356200158596039, 13.85700798034668], [6.09787130355835, 0.08356200158596039, 13.680231094360352], [5.9210944175720215, 0.08356200158596039, 13.503454208374023], [5.744317531585693, 0.08356200158596039, 13.326677322387695], [5.567540645599365, 0.08356200158596039, 13.149900436401367], [5.390763759613037, 0.08356200158596039, 12.973123550415039], [5.213986873626709, 0.08356200158596039, 12.796346664428711], [5.088986873626709, 0.08356200158596039, 12.579840660095215], [4.912209987640381, 0.08356200158596039, 12.403063774108887], [4.735433101654053, 0.08356200158596039, 12.226286888122559], [4.558656215667725, 0.08356200158596039, 12.04951000213623], [4.3818793296813965, 0.08356200158596039, 11.872733116149902], [4.205102443695068, 0.08356200158596039, 11.695956230163574], [4.02832555770874, 0.08356200158596039, 11.519179344177246]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 598, "episode_id": "599", "scene_id": "b8cTxDM8gDG", "instruction": "Continue up the stairs to the first landing. Stop and wait near the artwork. ", "start_position": [-5.790589809417725, -0.4482916295528412, 4.186699867248535], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-8.959250450134277, 0.5470508933067322, 2.229140043258667], "goal_radius": 3.0, "reference_path": "[[-5.790589809417725, -0.4482916295528412, 4.186699867248535], [-5.643360137939453, 0.13108748197555542, 1.9591399431228638], [-7.038660049438477, 0.453275203704834, 1.9443000555038452], [-8.099769592285156, 0.453275203704834, 1.9853899478912354], [-8.959250450134277, 0.5470508933067322, 2.229140043258667]]", "geodesic_distance": 4.555831432342529, "gt_locations": "[[-5.790589809417725, -0.4482916295528412, 4.186699867248535], [-5.790589809417725, -0.5621285438537598, 3.936699867248535], [-5.790589809417725, -0.5756867527961731, 3.686699867248535], [-5.790589809417725, -0.4862172603607178, 3.436699867248535], [-5.790589809417725, -0.3514072895050049, 3.186699867248535], [-5.790589809417725, -0.14175604283809662, 2.936699867248535], [-5.790589809417725, 0.05327486991882324, 2.686699867248535], [-5.725884914398193, 0.06660690903663635, 2.445218324661255], [-5.942391395568848, 0.1263030767440796, 2.320218324661255], [-6.158897876739502, 0.18599924445152283, 2.195218324661255], [-6.375404357910156, 0.3157390356063843, 2.070218324661255], [-6.616885662078857, 0.4332629144191742, 2.0055136680603027], [-6.866885662078857, 0.453275203704834, 2.0055136680603027], [-7.116885662078857, 0.453275203704834, 2.0055136680603027], [-7.366885662078857, 0.453275203704834, 2.0055136680603027], [-7.616885662078857, 0.453275203704834, 2.0055136680603027], [-7.866885662078857, 0.453275203704834, 2.0055136680603027], [-8.108366966247559, 0.453275203704834, 2.070218324661255], [-8.349848747253418, 0.453275203704834, 2.134922981262207], [-8.591330528259277, 0.453275203704834, 2.199627637863159]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 599, "episode_id": "600", "scene_id": "b8cTxDM8gDG", "instruction": "Go up the stairs then turn left and go up the stairs. Wait near the marilyn monroe painting on the right wall. ", "start_position": [-5.790589809417725, -0.4482916295528412, 4.186699867248535], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-8.959250450134277, 0.5470508933067322, 2.229140043258667], "goal_radius": 3.0, "reference_path": "[[-5.790589809417725, -0.4482916295528412, 4.186699867248535], [-5.643360137939453, 0.13108748197555542, 1.9591399431228638], [-7.038660049438477, 0.453275203704834, 1.9443000555038452], [-8.099769592285156, 0.453275203704834, 1.9853899478912354], [-8.959250450134277, 0.5470508933067322, 2.229140043258667]]", "geodesic_distance": 4.555831432342529, "gt_locations": "[[-5.790589809417725, -0.4482916295528412, 4.186699867248535], [-5.790589809417725, -0.5621285438537598, 3.936699867248535], [-5.790589809417725, -0.5756867527961731, 3.686699867248535], [-5.790589809417725, -0.4862172603607178, 3.436699867248535], [-5.790589809417725, -0.3514072895050049, 3.186699867248535], [-5.790589809417725, -0.14175604283809662, 2.936699867248535], [-5.790589809417725, 0.05327486991882324, 2.686699867248535], [-5.725884914398193, 0.06660690903663635, 2.445218324661255], [-5.942391395568848, 0.1263030767440796, 2.320218324661255], [-6.158897876739502, 0.18599924445152283, 2.195218324661255], [-6.375404357910156, 0.3157390356063843, 2.070218324661255], [-6.616885662078857, 0.4332629144191742, 2.0055136680603027], [-6.866885662078857, 0.453275203704834, 2.0055136680603027], [-7.116885662078857, 0.453275203704834, 2.0055136680603027], [-7.366885662078857, 0.453275203704834, 2.0055136680603027], [-7.616885662078857, 0.453275203704834, 2.0055136680603027], [-7.866885662078857, 0.453275203704834, 2.0055136680603027], [-8.108366966247559, 0.453275203704834, 2.070218324661255], [-8.349848747253418, 0.453275203704834, 2.134922981262207], [-8.591330528259277, 0.453275203704834, 2.199627637863159]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 600, "episode_id": "601", "scene_id": "b8cTxDM8gDG", "instruction": "Turn around and go up the stairs. Wait at the start of the second set of stairs by the switch on the wall. ", "start_position": [-5.790589809417725, -0.4482916295528412, 4.186699867248535], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-8.959250450134277, 0.5470508933067322, 2.229140043258667], "goal_radius": 3.0, "reference_path": "[[-5.790589809417725, -0.4482916295528412, 4.186699867248535], [-5.643360137939453, 0.13108748197555542, 1.9591399431228638], [-7.038660049438477, 0.453275203704834, 1.9443000555038452], [-8.099769592285156, 0.453275203704834, 1.9853899478912354], [-8.959250450134277, 0.5470508933067322, 2.229140043258667]]", "geodesic_distance": 4.555831432342529, "gt_locations": "[[-5.790589809417725, -0.4482916295528412, 4.186699867248535], [-5.790589809417725, -0.5621285438537598, 3.936699867248535], [-5.790589809417725, -0.5756867527961731, 3.686699867248535], [-5.790589809417725, -0.4862172603607178, 3.436699867248535], [-5.790589809417725, -0.3514072895050049, 3.186699867248535], [-5.790589809417725, -0.14175604283809662, 2.936699867248535], [-5.790589809417725, 0.05327486991882324, 2.686699867248535], [-5.725884914398193, 0.06660690903663635, 2.445218324661255], [-5.942391395568848, 0.1263030767440796, 2.320218324661255], [-6.158897876739502, 0.18599924445152283, 2.195218324661255], [-6.375404357910156, 0.3157390356063843, 2.070218324661255], [-6.616885662078857, 0.4332629144191742, 2.0055136680603027], [-6.866885662078857, 0.453275203704834, 2.0055136680603027], [-7.116885662078857, 0.453275203704834, 2.0055136680603027], [-7.366885662078857, 0.453275203704834, 2.0055136680603027], [-7.616885662078857, 0.453275203704834, 2.0055136680603027], [-7.866885662078857, 0.453275203704834, 2.0055136680603027], [-8.108366966247559, 0.453275203704834, 2.070218324661255], [-8.349848747253418, 0.453275203704834, 2.134922981262207], [-8.591330528259277, 0.453275203704834, 2.199627637863159]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 601, "episode_id": "602", "scene_id": "dhjEzFoUFzH", "instruction": "Go through the center of the room towards the back, turn left left after the seats, at the large pillar take a slight left towards the grey divider and stop mid-room. 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{"id": 602, "episode_id": "603", "scene_id": "dhjEzFoUFzH", "instruction": "Walk down center pews, then make a left then head to open area, and wait in center of room. 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{"id": 603, "episode_id": "604", "scene_id": "dhjEzFoUFzH", "instruction": "Turn left after the pews. Wait in front of the large grey rectangle. 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{"id": 604, "episode_id": "605", "scene_id": "JeFG25nYj2p", "instruction": "Go between the stove and the sink and then turn left by the refrigerator. ", "start_position": [5.983650207519531, 0.09358400106430054, -6.157939910888672], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [7.785459995269775, 0.09358400106430054, 0.1665789932012558], "goal_radius": 3.0, "reference_path": "[[5.983650207519531, 0.09358400106430054, -6.157939910888672], [5.801310062408447, 0.09358400106430054, -4.974609851837158], [5.94789981842041, 0.09358400106430054, -3.213670015335083], [8.10122013092041, 0.09358400106430054, -2.492069959640503], [7.785459995269775, 0.09358400106430054, 0.1665789932012558]]", "geodesic_distance": 8.060117721557617, "gt_locations": "[[5.983650207519531, 0.09358400106430054, -6.157939910888672], [5.9189453125, 0.09358400106430054, -5.916458606719971], [5.854240417480469, 0.09358400106430054, -5.6749773025512695], [5.854240417480469, 0.09358400106430054, -5.4249773025512695], [5.854240417480469, 0.09358400106430054, -5.1749773025512695], [5.854240417480469, 0.09358400106430054, -4.9249773025512695], [5.854240417480469, 0.09358400106430054, -4.6749773025512695], [5.854240417480469, 0.09358400106430054, -4.4249773025512695], [5.854240417480469, 0.09358400106430054, -4.1749773025512695], [5.854240417480469, 0.09358400106430054, -3.9249773025512695], [5.854240417480469, 0.09358400106430054, -3.6749773025512695], [5.9189453125, 0.09358400106430054, -3.4334957599639893], [5.983650207519531, 0.09358400106430054, -3.192014217376709], [6.108650207519531, 0.09358400106430054, -2.9755077362060547], [6.350131511688232, 0.09358400106430054, -2.862086296081543], [6.591612815856934, 0.09358400106430054, -2.7973814010620117], [6.833094120025635, 0.09358400106430054, -2.7326765060424805], [7.074575424194336, 0.09358400106430054, -2.667971611022949], [7.316056728363037, 0.09358400106430054, -2.603266716003418], [7.557538032531738, 0.09358400106430054, -2.5385618209838867], [7.807538032531738, 0.09358400106430054, -2.5385618209838867], [7.8722429275512695, 0.09358400106430054, -2.2970802783966064], [7.936947822570801, 0.09358400106430054, -2.055598735809326], [8.001652717590332, 0.09358400106430054, -1.814117193222046], [8.001652717590332, 0.09358400106430054, -1.564117193222046], [8.02242374420166, 0.09358400106430054, -1.3115208148956299], [8.02242374420166, 0.09358400106430054, -1.0615208148956299], [8.02242374420166, 0.09358400106430054, -0.8115208148956299], [7.957718849182129, 0.09358400106430054, -0.5700393319129944], [7.893013954162598, 0.09358400106430054, -0.3285578489303589], [7.828309059143066, 0.09358400106430054, -0.08707636594772339]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 605, "episode_id": "606", "scene_id": "JeFG25nYj2p", "instruction": "Turn 90 degrees and walk towards the sink and continue towards the refrigerator. Turn left in front of fridge. Turn right and walk in front of the striped rug. Stop in front of the doorway just before you reach the bookcase. ", "start_position": [5.983650207519531, 0.09358400106430054, -6.157939910888672], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [7.785459995269775, 0.09358400106430054, 0.1665789932012558], "goal_radius": 3.0, "reference_path": "[[5.983650207519531, 0.09358400106430054, -6.157939910888672], [5.801310062408447, 0.09358400106430054, -4.974609851837158], [5.94789981842041, 0.09358400106430054, -3.213670015335083], [8.10122013092041, 0.09358400106430054, -2.492069959640503], [7.785459995269775, 0.09358400106430054, 0.1665789932012558]]", "geodesic_distance": 8.060117721557617, "gt_locations": "[[5.983650207519531, 0.09358400106430054, -6.157939910888672], [5.9189453125, 0.09358400106430054, -5.916458606719971], [5.854240417480469, 0.09358400106430054, -5.6749773025512695], [5.854240417480469, 0.09358400106430054, -5.4249773025512695], [5.854240417480469, 0.09358400106430054, -5.1749773025512695], [5.854240417480469, 0.09358400106430054, -4.9249773025512695], [5.854240417480469, 0.09358400106430054, -4.6749773025512695], [5.854240417480469, 0.09358400106430054, -4.4249773025512695], [5.854240417480469, 0.09358400106430054, -4.1749773025512695], [5.854240417480469, 0.09358400106430054, -3.9249773025512695], [5.854240417480469, 0.09358400106430054, -3.6749773025512695], [5.9189453125, 0.09358400106430054, -3.4334957599639893], [5.983650207519531, 0.09358400106430054, -3.192014217376709], [6.108650207519531, 0.09358400106430054, -2.9755077362060547], [6.350131511688232, 0.09358400106430054, -2.862086296081543], [6.591612815856934, 0.09358400106430054, -2.7973814010620117], [6.833094120025635, 0.09358400106430054, -2.7326765060424805], [7.074575424194336, 0.09358400106430054, -2.667971611022949], [7.316056728363037, 0.09358400106430054, -2.603266716003418], [7.557538032531738, 0.09358400106430054, -2.5385618209838867], [7.807538032531738, 0.09358400106430054, -2.5385618209838867], [7.8722429275512695, 0.09358400106430054, -2.2970802783966064], [7.936947822570801, 0.09358400106430054, -2.055598735809326], [8.001652717590332, 0.09358400106430054, -1.814117193222046], [8.001652717590332, 0.09358400106430054, -1.564117193222046], [8.02242374420166, 0.09358400106430054, -1.3115208148956299], [8.02242374420166, 0.09358400106430054, -1.0615208148956299], [8.02242374420166, 0.09358400106430054, -0.8115208148956299], [7.957718849182129, 0.09358400106430054, -0.5700393319129944], [7.893013954162598, 0.09358400106430054, -0.3285578489303589], [7.828309059143066, 0.09358400106430054, -0.08707636594772339]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 606, "episode_id": "607", "scene_id": "JeFG25nYj2p", "instruction": "Walk towards the fridge. Turn left and walk around the corner to the right. Stop in front of the doorway before reaching the bookshelf. ", "start_position": [5.983650207519531, 0.09358400106430054, -6.157939910888672], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [7.785459995269775, 0.09358400106430054, 0.1665789932012558], "goal_radius": 3.0, "reference_path": "[[5.983650207519531, 0.09358400106430054, -6.157939910888672], [5.801310062408447, 0.09358400106430054, -4.974609851837158], [5.94789981842041, 0.09358400106430054, -3.213670015335083], [8.10122013092041, 0.09358400106430054, -2.492069959640503], [7.785459995269775, 0.09358400106430054, 0.1665789932012558]]", "geodesic_distance": 8.060117721557617, "gt_locations": "[[5.983650207519531, 0.09358400106430054, -6.157939910888672], [5.9189453125, 0.09358400106430054, -5.916458606719971], [5.854240417480469, 0.09358400106430054, -5.6749773025512695], [5.854240417480469, 0.09358400106430054, -5.4249773025512695], [5.854240417480469, 0.09358400106430054, -5.1749773025512695], [5.854240417480469, 0.09358400106430054, -4.9249773025512695], [5.854240417480469, 0.09358400106430054, -4.6749773025512695], [5.854240417480469, 0.09358400106430054, -4.4249773025512695], [5.854240417480469, 0.09358400106430054, -4.1749773025512695], [5.854240417480469, 0.09358400106430054, -3.9249773025512695], [5.854240417480469, 0.09358400106430054, -3.6749773025512695], [5.9189453125, 0.09358400106430054, -3.4334957599639893], [5.983650207519531, 0.09358400106430054, -3.192014217376709], [6.108650207519531, 0.09358400106430054, -2.9755077362060547], [6.350131511688232, 0.09358400106430054, -2.862086296081543], [6.591612815856934, 0.09358400106430054, -2.7973814010620117], [6.833094120025635, 0.09358400106430054, -2.7326765060424805], [7.074575424194336, 0.09358400106430054, -2.667971611022949], [7.316056728363037, 0.09358400106430054, -2.603266716003418], [7.557538032531738, 0.09358400106430054, -2.5385618209838867], [7.807538032531738, 0.09358400106430054, -2.5385618209838867], [7.8722429275512695, 0.09358400106430054, -2.2970802783966064], [7.936947822570801, 0.09358400106430054, -2.055598735809326], [8.001652717590332, 0.09358400106430054, -1.814117193222046], [8.001652717590332, 0.09358400106430054, -1.564117193222046], [8.02242374420166, 0.09358400106430054, -1.3115208148956299], [8.02242374420166, 0.09358400106430054, -1.0615208148956299], [8.02242374420166, 0.09358400106430054, -0.8115208148956299], [7.957718849182129, 0.09358400106430054, -0.5700393319129944], [7.893013954162598, 0.09358400106430054, -0.3285578489303589], [7.828309059143066, 0.09358400106430054, -0.08707636594772339]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 0]"}
{"id": 607, "episode_id": "608", "scene_id": "759xd9YjKW5", "instruction": "Go into the room.Turn left and go past the tv. Go straight out the door. Continue straight until you get to a bedroom. Wait near the bed. ", "start_position": [-11.480600357055664, 3.2966651916503906, -3.7759499549865723], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-4.411210060119629, 3.2966651916503906, -1.8527699708938599], "goal_radius": 3.0, "reference_path": "[[-11.480600357055664, 3.2966651916503906, -3.7759499549865723], [-11.319999694824219, 3.2966651916503906, -1.4264099597930908], [-9.371529579162598, 3.2966651916503906, -2.0429298877716064], [-7.653600215911865, 3.2966651916503906, -2.608870029449463], [-4.411210060119629, 3.2966651916503906, -1.8527699708938599]]", "geodesic_distance": 7.822494029998779, "gt_locations": "[[-11.480600357055664, 3.2966651916503906, -3.7759499549865723], [-11.415895462036133, 3.2966651916503906, -3.534468412399292], [-11.415895462036133, 3.2966651916503906, -3.284468412399292], [-11.415895462036133, 3.2966651916503906, -3.034468412399292], [-11.415895462036133, 3.2966651916503906, -2.784468412399292], [-11.415895462036133, 3.2966651916503906, -2.534468412399292], [-11.415895462036133, 3.2966651916503906, -2.284468412399292], [-11.415895462036133, 3.2966651916503906, -2.034468412399292], [-11.415895462036133, 3.2966651916503906, -1.784468412399292], [-11.165895462036133, 3.2966651916503906, -1.784468412399292], [-10.915895462036133, 3.2966651916503906, -1.784468412399292], [-10.665895462036133, 3.2966651916503906, -1.784468412399292], [-10.424413681030273, 3.2966651916503906, -1.8491731882095337], [-10.182931900024414, 3.2966651916503906, -1.9138779640197754], [-9.941450119018555, 3.2966651916503906, -1.978582739830017], [-9.699968338012695, 3.2966651916503906, -2.043287515640259], [-9.458486557006836, 3.2966651916503906, -2.107992172241211], [-9.217004776000977, 3.2966651916503906, -2.172696828842163], [-8.975522994995117, 3.2966651916503906, -2.2374014854431152], [-8.734041213989258, 3.2966651916503906, -2.3021061420440674], [-8.492559432983398, 3.2966651916503906, -2.3668107986450195], [-8.251077651977539, 3.2966651916503906, -2.4315154552459717], [-8.00959587097168, 3.2966651916503906, -2.496220111846924], [-7.75959587097168, 3.2966651916503906, -2.496220111846924], [-7.50959587097168, 3.2966651916503906, -2.496220111846924], [-7.25959587097168, 3.2966651916503906, -2.496220111846924], [-7.00959587097168, 3.2966651916503906, -2.496220111846924], [-6.75959587097168, 3.2966651916503906, -2.496220111846924], [-6.50959587097168, 3.2966651916503906, -2.496220111846924], [-6.25959587097168, 3.2966651916503906, -2.496220111846924], [-6.00959587097168, 3.2966651916503906, -2.496220111846924], [-5.760078430175781, 3.2966651916503906, -2.4636597633361816], [-5.51859712600708, 3.2966651916503906, -2.3989548683166504], [-5.302090644836426, 3.2966651916503906, -2.2739548683166504], [-5.060609340667725, 3.2966651916503906, -2.209249973297119], [-4.84410285949707, 3.2966651916503906, -2.084249973297119]]", "gt_actions": "[2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 3, 1, 0]"}
{"id": 608, "episode_id": "609", "scene_id": "759xd9YjKW5", "instruction": "Walk through the doorway. Walk through the living room.  Go down the hallway and into the bedroom. Stop next to the wooden cabinet. ", "start_position": [-11.480600357055664, 3.2966651916503906, -3.7759499549865723], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-4.411210060119629, 3.2966651916503906, -1.8527699708938599], "goal_radius": 3.0, "reference_path": "[[-11.480600357055664, 3.2966651916503906, -3.7759499549865723], [-11.319999694824219, 3.2966651916503906, -1.4264099597930908], [-9.371529579162598, 3.2966651916503906, -2.0429298877716064], [-7.653600215911865, 3.2966651916503906, -2.608870029449463], [-4.411210060119629, 3.2966651916503906, -1.8527699708938599]]", "geodesic_distance": 7.822494029998779, "gt_locations": "[[-11.480600357055664, 3.2966651916503906, -3.7759499549865723], [-11.415895462036133, 3.2966651916503906, -3.534468412399292], [-11.415895462036133, 3.2966651916503906, -3.284468412399292], [-11.415895462036133, 3.2966651916503906, -3.034468412399292], [-11.415895462036133, 3.2966651916503906, -2.784468412399292], [-11.415895462036133, 3.2966651916503906, -2.534468412399292], [-11.415895462036133, 3.2966651916503906, -2.284468412399292], [-11.415895462036133, 3.2966651916503906, -2.034468412399292], [-11.415895462036133, 3.2966651916503906, -1.784468412399292], [-11.165895462036133, 3.2966651916503906, -1.784468412399292], [-10.915895462036133, 3.2966651916503906, -1.784468412399292], [-10.665895462036133, 3.2966651916503906, -1.784468412399292], [-10.424413681030273, 3.2966651916503906, -1.8491731882095337], [-10.182931900024414, 3.2966651916503906, -1.9138779640197754], [-9.941450119018555, 3.2966651916503906, -1.978582739830017], [-9.699968338012695, 3.2966651916503906, -2.043287515640259], [-9.458486557006836, 3.2966651916503906, -2.107992172241211], [-9.217004776000977, 3.2966651916503906, -2.172696828842163], [-8.975522994995117, 3.2966651916503906, -2.2374014854431152], [-8.734041213989258, 3.2966651916503906, -2.3021061420440674], [-8.492559432983398, 3.2966651916503906, -2.3668107986450195], [-8.251077651977539, 3.2966651916503906, -2.4315154552459717], [-8.00959587097168, 3.2966651916503906, -2.496220111846924], [-7.75959587097168, 3.2966651916503906, -2.496220111846924], [-7.50959587097168, 3.2966651916503906, -2.496220111846924], [-7.25959587097168, 3.2966651916503906, -2.496220111846924], [-7.00959587097168, 3.2966651916503906, -2.496220111846924], [-6.75959587097168, 3.2966651916503906, -2.496220111846924], [-6.50959587097168, 3.2966651916503906, -2.496220111846924], [-6.25959587097168, 3.2966651916503906, -2.496220111846924], [-6.00959587097168, 3.2966651916503906, -2.496220111846924], [-5.760078430175781, 3.2966651916503906, -2.4636597633361816], [-5.51859712600708, 3.2966651916503906, -2.3989548683166504], [-5.302090644836426, 3.2966651916503906, -2.2739548683166504], [-5.060609340667725, 3.2966651916503906, -2.209249973297119], [-4.84410285949707, 3.2966651916503906, -2.084249973297119]]", "gt_actions": "[2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 3, 1, 0]"}
{"id": 609, "episode_id": "610", "scene_id": "759xd9YjKW5", "instruction": "Enter the home office and take a left.  Head inside the bedroom and wait there. ", "start_position": [-11.480600357055664, 3.2966651916503906, -3.7759499549865723], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [-4.411210060119629, 3.2966651916503906, -1.8527699708938599], "goal_radius": 3.0, "reference_path": "[[-11.480600357055664, 3.2966651916503906, -3.7759499549865723], [-11.319999694824219, 3.2966651916503906, -1.4264099597930908], [-9.371529579162598, 3.2966651916503906, -2.0429298877716064], [-7.653600215911865, 3.2966651916503906, -2.608870029449463], [-4.411210060119629, 3.2966651916503906, -1.8527699708938599]]", "geodesic_distance": 7.822494029998779, "gt_locations": "[[-11.480600357055664, 3.2966651916503906, -3.7759499549865723], [-11.415895462036133, 3.2966651916503906, -3.534468412399292], [-11.415895462036133, 3.2966651916503906, -3.284468412399292], [-11.415895462036133, 3.2966651916503906, -3.034468412399292], [-11.415895462036133, 3.2966651916503906, -2.784468412399292], [-11.415895462036133, 3.2966651916503906, -2.534468412399292], [-11.415895462036133, 3.2966651916503906, -2.284468412399292], [-11.415895462036133, 3.2966651916503906, -2.034468412399292], [-11.415895462036133, 3.2966651916503906, -1.784468412399292], [-11.165895462036133, 3.2966651916503906, -1.784468412399292], [-10.915895462036133, 3.2966651916503906, -1.784468412399292], [-10.665895462036133, 3.2966651916503906, -1.784468412399292], [-10.424413681030273, 3.2966651916503906, -1.8491731882095337], [-10.182931900024414, 3.2966651916503906, -1.9138779640197754], [-9.941450119018555, 3.2966651916503906, -1.978582739830017], [-9.699968338012695, 3.2966651916503906, -2.043287515640259], [-9.458486557006836, 3.2966651916503906, -2.107992172241211], [-9.217004776000977, 3.2966651916503906, -2.172696828842163], [-8.975522994995117, 3.2966651916503906, -2.2374014854431152], [-8.734041213989258, 3.2966651916503906, -2.3021061420440674], [-8.492559432983398, 3.2966651916503906, -2.3668107986450195], [-8.251077651977539, 3.2966651916503906, -2.4315154552459717], [-8.00959587097168, 3.2966651916503906, -2.496220111846924], [-7.75959587097168, 3.2966651916503906, -2.496220111846924], [-7.50959587097168, 3.2966651916503906, -2.496220111846924], [-7.25959587097168, 3.2966651916503906, -2.496220111846924], [-7.00959587097168, 3.2966651916503906, -2.496220111846924], [-6.75959587097168, 3.2966651916503906, -2.496220111846924], [-6.50959587097168, 3.2966651916503906, -2.496220111846924], [-6.25959587097168, 3.2966651916503906, -2.496220111846924], [-6.00959587097168, 3.2966651916503906, -2.496220111846924], [-5.760078430175781, 3.2966651916503906, -2.4636597633361816], [-5.51859712600708, 3.2966651916503906, -2.3989548683166504], [-5.302090644836426, 3.2966651916503906, -2.2739548683166504], [-5.060609340667725, 3.2966651916503906, -2.209249973297119], [-4.84410285949707, 3.2966651916503906, -2.084249973297119]]", "gt_actions": "[2, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 2, 1, 3, 1, 0]"}
{"id": 610, "episode_id": "611", "scene_id": "29hnd4uzFmX", "instruction": "Exit the bedroom. Go to the drum set. ", "start_position": [1.1164599657058716, 2.7910420894622803, -2.1650900840759277], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-5.161190032958984, 2.7910420894622803, -4.72022008895874], "goal_radius": 3.0, "reference_path": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9332150220870972, 2.7910420894622803, -1.7601100206375122], [-1.6939200162887573, 2.7910420894622803, -2.4271299839019775], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-4.255559921264648, 2.7910420894622803, -4.233039855957031], [-5.161190032958984, 2.7910420894622803, -4.72022008895874]]", "geodesic_distance": 7.135648727416992, "gt_locations": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9396832585334778, 2.7910420894622803, -1.9883134365081787], [0.6982017755508423, 2.7910420894622803, -1.8870930671691895], [0.43927520513534546, 2.7910420894622803, -1.9052776098251343], [0.19779373705387115, 2.7910420894622803, -1.969982385635376], [-0.04368773102760315, 2.7910420894622803, -2.034687042236328], [-0.29368776082992554, 2.7910420894622803, -2.034687042236328], [-0.5425962209701538, 2.7910420894622803, -2.069683790206909], [-0.7925962209701538, 2.7910420894622803, -2.069683790206909], [-1.034077763557434, 2.7910420894622803, -2.1343884468078613], [-1.2755593061447144, 2.7910420894622803, -2.1990931034088135], [-1.492065668106079, 2.7910420894622803, -2.3240931034088135], [-1.7085720300674438, 2.7910420894622803, -2.4490931034088135], [-1.9250783920288086, 2.7910420894622803, -2.5740931034088135], [-2.141584873199463, 2.7910420894622803, -2.6990931034088135], [-2.358091354370117, 2.7910420894622803, -2.8240931034088135], [-2.5745978355407715, 2.7910420894622803, -2.9490931034088135], [-2.791104316711426, 2.7910420894622803, -3.0740931034088135], [-3.00761079788208, 2.7910420894622803, -3.1990931034088135], [-3.2241172790527344, 2.7910420894622803, -3.3240931034088135], [-3.4008939266204834, 2.7910420894622803, -3.5008697509765625], [-3.5776705741882324, 2.7910420894622803, -3.6776463985443115], [-3.7544472217559814, 2.7910420894622803, -3.8544230461120605], [-3.9312238693237305, 2.7910420894622803, -4.031199932098389], [-4.147730350494385, 2.7910420894622803, -4.156199932098389], [-4.364236831665039, 2.7910420894622803, -4.281199932098389], [-4.580743312835693, 2.7910420894622803, -4.406199932098389], [-4.797249794006348, 2.7910420894622803, -4.531199932098389]]", "gt_actions": "[3, 3, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 611, "episode_id": "612", "scene_id": "29hnd4uzFmX", "instruction": "Leave the closet and walk into the bedroom.  Leave the bedroom and walk past the doors to the drum set on the other side.  Stop in front of the drum set. ", "start_position": [1.1164599657058716, 2.7910420894622803, -2.1650900840759277], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-5.161190032958984, 2.7910420894622803, -4.72022008895874], "goal_radius": 3.0, "reference_path": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9332150220870972, 2.7910420894622803, -1.7601100206375122], [-1.6939200162887573, 2.7910420894622803, -2.4271299839019775], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-4.255559921264648, 2.7910420894622803, -4.233039855957031], [-5.161190032958984, 2.7910420894622803, -4.72022008895874]]", "geodesic_distance": 7.135648727416992, "gt_locations": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9396832585334778, 2.7910420894622803, -1.9883134365081787], [0.6982017755508423, 2.7910420894622803, -1.8870930671691895], [0.43927520513534546, 2.7910420894622803, -1.9052776098251343], [0.19779373705387115, 2.7910420894622803, -1.969982385635376], [-0.04368773102760315, 2.7910420894622803, -2.034687042236328], [-0.29368776082992554, 2.7910420894622803, -2.034687042236328], [-0.5425962209701538, 2.7910420894622803, -2.069683790206909], [-0.7925962209701538, 2.7910420894622803, -2.069683790206909], [-1.034077763557434, 2.7910420894622803, -2.1343884468078613], [-1.2755593061447144, 2.7910420894622803, -2.1990931034088135], [-1.492065668106079, 2.7910420894622803, -2.3240931034088135], [-1.7085720300674438, 2.7910420894622803, -2.4490931034088135], [-1.9250783920288086, 2.7910420894622803, -2.5740931034088135], [-2.141584873199463, 2.7910420894622803, -2.6990931034088135], [-2.358091354370117, 2.7910420894622803, -2.8240931034088135], [-2.5745978355407715, 2.7910420894622803, -2.9490931034088135], [-2.791104316711426, 2.7910420894622803, -3.0740931034088135], [-3.00761079788208, 2.7910420894622803, -3.1990931034088135], [-3.2241172790527344, 2.7910420894622803, -3.3240931034088135], [-3.4008939266204834, 2.7910420894622803, -3.5008697509765625], [-3.5776705741882324, 2.7910420894622803, -3.6776463985443115], [-3.7544472217559814, 2.7910420894622803, -3.8544230461120605], [-3.9312238693237305, 2.7910420894622803, -4.031199932098389], [-4.147730350494385, 2.7910420894622803, -4.156199932098389], [-4.364236831665039, 2.7910420894622803, -4.281199932098389], [-4.580743312835693, 2.7910420894622803, -4.406199932098389], [-4.797249794006348, 2.7910420894622803, -4.531199932098389]]", "gt_actions": "[3, 3, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 612, "episode_id": "613", "scene_id": "29hnd4uzFmX", "instruction": "exit the room then walk forward then stop at the drum set instrument. ", "start_position": [1.1164599657058716, 2.7910420894622803, -2.1650900840759277], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-5.161190032958984, 2.7910420894622803, -4.72022008895874], "goal_radius": 3.0, "reference_path": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9332150220870972, 2.7910420894622803, -1.7601100206375122], [-1.6939200162887573, 2.7910420894622803, -2.4271299839019775], [-2.8986198902130127, 2.7910420894622803, -3.2174201011657715], [-4.255559921264648, 2.7910420894622803, -4.233039855957031], [-5.161190032958984, 2.7910420894622803, -4.72022008895874]]", "geodesic_distance": 7.135648727416992, "gt_locations": "[[1.1164599657058716, 2.7910420894622803, -2.1650900840759277], [0.9396832585334778, 2.7910420894622803, -1.9883134365081787], [0.6982017755508423, 2.7910420894622803, -1.8870930671691895], [0.43927520513534546, 2.7910420894622803, -1.9052776098251343], [0.19779373705387115, 2.7910420894622803, -1.969982385635376], [-0.04368773102760315, 2.7910420894622803, -2.034687042236328], [-0.29368776082992554, 2.7910420894622803, -2.034687042236328], [-0.5425962209701538, 2.7910420894622803, -2.069683790206909], [-0.7925962209701538, 2.7910420894622803, -2.069683790206909], [-1.034077763557434, 2.7910420894622803, -2.1343884468078613], [-1.2755593061447144, 2.7910420894622803, -2.1990931034088135], [-1.492065668106079, 2.7910420894622803, -2.3240931034088135], [-1.7085720300674438, 2.7910420894622803, -2.4490931034088135], [-1.9250783920288086, 2.7910420894622803, -2.5740931034088135], [-2.141584873199463, 2.7910420894622803, -2.6990931034088135], [-2.358091354370117, 2.7910420894622803, -2.8240931034088135], [-2.5745978355407715, 2.7910420894622803, -2.9490931034088135], [-2.791104316711426, 2.7910420894622803, -3.0740931034088135], [-3.00761079788208, 2.7910420894622803, -3.1990931034088135], [-3.2241172790527344, 2.7910420894622803, -3.3240931034088135], [-3.4008939266204834, 2.7910420894622803, -3.5008697509765625], [-3.5776705741882324, 2.7910420894622803, -3.6776463985443115], [-3.7544472217559814, 2.7910420894622803, -3.8544230461120605], [-3.9312238693237305, 2.7910420894622803, -4.031199932098389], [-4.147730350494385, 2.7910420894622803, -4.156199932098389], [-4.364236831665039, 2.7910420894622803, -4.281199932098389], [-4.580743312835693, 2.7910420894622803, -4.406199932098389], [-4.797249794006348, 2.7910420894622803, -4.531199932098389]]", "gt_actions": "[3, 3, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 613, "episode_id": "614", "scene_id": "8WUmhLawc2A", "instruction": "Walk forward make a right around the kitchen island. continue past living area, enter bedroom, then make a left and enter bedroom bathroom. 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{"id": 614, "episode_id": "615", "scene_id": "8WUmhLawc2A", "instruction": "Turn right and go through the kitchen. Walk past the couches on the right and into the hallway on the left. Go straight until you get to a room that is to the left of the pictures of children on the wall. Turn left and go into the bathroom. Wait near the sink. 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{"id": 615, "episode_id": "616", "scene_id": "8WUmhLawc2A", "instruction": "Pass through the living room archway and turn right, go through the center doorway, then into the bathroom. Stop and wait near the sink. 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{"id": 616, "episode_id": "617", "scene_id": "82sE5b5pLXE", "instruction": "Walk forward and enter the door on your right. Once inside the house, Turn right and walk to the doorway on your right that leads to more doors and stop. ", "start_position": [-21.371700286865234, 0.33779406547546387, -11.781200408935547], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-14.25629997253418, 0.33779406547546387, -9.352740287780762], "goal_radius": 3.0, "reference_path": "[[-21.371700286865234, 0.33779406547546387, -11.781200408935547], [-19.287200927734375, 0.33779406547546387, -12.143400192260742], [-17.283899307250977, 0.33779406547546387, -11.840900421142578], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-14.25629997253418, 0.33779406547546387, -9.352740287780762]]", "geodesic_distance": 8.170267105102539, "gt_locations": "[[-21.371700286865234, 0.33779406547546387, -11.781200408935547], [-21.130218505859375, 0.33779406547546387, -11.845905303955078], [-20.888736724853516, 0.33779406547546387, -11.91061019897461], [-20.647254943847656, 0.33779406547546387, -11.97531509399414], [-20.405773162841797, 0.33779406547546387, -12.040019989013672], [-20.155773162841797, 0.33779406547546387, -12.040019989013672], [-19.905773162841797, 0.33779406547546387, -12.040019989013672], [-19.664291381835938, 0.33779406547546387, -12.104724884033203], [-19.414291381835938, 0.33779406547546387, -12.104724884033203], [-19.164291381835938, 0.33779406547546387, -12.104724884033203], [-18.914291381835938, 0.33779406547546387, -12.104724884033203], [-18.664291381835938, 0.33779406547546387, -12.104724884033203], [-18.422809600830078, 0.33779406547546387, -12.040019989013672], [-18.18132781982422, 0.33779406547546387, -11.97531509399414], [-17.93132781982422, 0.33779406547546387, -11.97531509399414], [-17.68984603881836, 0.33779406547546387, -11.91061019897461], [-17.4483642578125, 0.33779406547546387, -11.845905303955078], [-17.231857299804688, 0.33779406547546387, -11.720905303955078], [-17.015350341796875, 0.33779406547546387, -11.595905303955078], [-16.798843383789062, 0.33779406547546387, -11.470905303955078], [-16.557361602783203, 0.33779406547546387, -11.406200408935547], [-16.315879821777344, 0.33779406547546387, -11.341495513916016], [-16.09937286376953, 0.33779406547546387, -11.216495513916016], [-15.857891082763672, 0.33779406547546387, -11.151790618896484], [-15.641385078430176, 0.33779406547546387, -11.026790618896484], [-15.42487907409668, 0.33779406547546387, -10.901790618896484], [-15.208373069763184, 0.33779406547546387, -10.776790618896484], [-14.966891288757324, 0.33779406547546387, -10.712085723876953], [-14.725409507751465, 0.33779406547546387, -10.647380828857422], [-14.508903503417969, 0.33779406547546387, -10.522380828857422], [-14.292397499084473, 0.33779406547546387, -10.397380828857422], [-14.227692604064941, 0.33779406547546387, -10.155899047851562], [-14.227692604064941, 0.33779406547546387, -9.905899047851562], [-14.227692604064941, 0.33779406547546387, -9.655899047851562]]", "gt_actions": "[3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 3, 1, 1, 0]"}
{"id": 617, "episode_id": "618", "scene_id": "82sE5b5pLXE", "instruction": "Go past the plants and through the doorway.  Head past the wooden shelf and turn right stopping in the doorway. ", "start_position": [-21.371700286865234, 0.33779406547546387, -11.781200408935547], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-14.25629997253418, 0.33779406547546387, -9.352740287780762], "goal_radius": 3.0, "reference_path": "[[-21.371700286865234, 0.33779406547546387, -11.781200408935547], [-19.287200927734375, 0.33779406547546387, -12.143400192260742], [-17.283899307250977, 0.33779406547546387, -11.840900421142578], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-14.25629997253418, 0.33779406547546387, -9.352740287780762]]", "geodesic_distance": 8.170267105102539, "gt_locations": "[[-21.371700286865234, 0.33779406547546387, -11.781200408935547], [-21.130218505859375, 0.33779406547546387, -11.845905303955078], [-20.888736724853516, 0.33779406547546387, -11.91061019897461], [-20.647254943847656, 0.33779406547546387, -11.97531509399414], [-20.405773162841797, 0.33779406547546387, -12.040019989013672], [-20.155773162841797, 0.33779406547546387, -12.040019989013672], [-19.905773162841797, 0.33779406547546387, -12.040019989013672], [-19.664291381835938, 0.33779406547546387, -12.104724884033203], [-19.414291381835938, 0.33779406547546387, -12.104724884033203], [-19.164291381835938, 0.33779406547546387, -12.104724884033203], [-18.914291381835938, 0.33779406547546387, -12.104724884033203], [-18.664291381835938, 0.33779406547546387, -12.104724884033203], [-18.422809600830078, 0.33779406547546387, -12.040019989013672], [-18.18132781982422, 0.33779406547546387, -11.97531509399414], [-17.93132781982422, 0.33779406547546387, -11.97531509399414], [-17.68984603881836, 0.33779406547546387, -11.91061019897461], [-17.4483642578125, 0.33779406547546387, -11.845905303955078], [-17.231857299804688, 0.33779406547546387, -11.720905303955078], [-17.015350341796875, 0.33779406547546387, -11.595905303955078], [-16.798843383789062, 0.33779406547546387, -11.470905303955078], [-16.557361602783203, 0.33779406547546387, -11.406200408935547], [-16.315879821777344, 0.33779406547546387, -11.341495513916016], [-16.09937286376953, 0.33779406547546387, -11.216495513916016], [-15.857891082763672, 0.33779406547546387, -11.151790618896484], [-15.641385078430176, 0.33779406547546387, -11.026790618896484], [-15.42487907409668, 0.33779406547546387, -10.901790618896484], [-15.208373069763184, 0.33779406547546387, -10.776790618896484], [-14.966891288757324, 0.33779406547546387, -10.712085723876953], [-14.725409507751465, 0.33779406547546387, -10.647380828857422], [-14.508903503417969, 0.33779406547546387, -10.522380828857422], [-14.292397499084473, 0.33779406547546387, -10.397380828857422], [-14.227692604064941, 0.33779406547546387, -10.155899047851562], [-14.227692604064941, 0.33779406547546387, -9.905899047851562], [-14.227692604064941, 0.33779406547546387, -9.655899047851562]]", "gt_actions": "[3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 3, 1, 1, 0]"}
{"id": 618, "episode_id": "619", "scene_id": "82sE5b5pLXE", "instruction": "Walk forward and enter the house. Veer right and enter the doorway on the left of the bookcase. Stop in the doorway. ", "start_position": [-21.371700286865234, 0.33779406547546387, -11.781200408935547], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-14.25629997253418, 0.33779406547546387, -9.352740287780762], "goal_radius": 3.0, "reference_path": "[[-21.371700286865234, 0.33779406547546387, -11.781200408935547], [-19.287200927734375, 0.33779406547546387, -12.143400192260742], [-17.283899307250977, 0.33779406547546387, -11.840900421142578], [-14.035499572753906, 0.33779406547546387, -10.156599998474121], [-14.25629997253418, 0.33779406547546387, -9.352740287780762]]", "geodesic_distance": 8.170267105102539, "gt_locations": "[[-21.371700286865234, 0.33779406547546387, -11.781200408935547], [-21.130218505859375, 0.33779406547546387, -11.845905303955078], [-20.888736724853516, 0.33779406547546387, -11.91061019897461], [-20.647254943847656, 0.33779406547546387, -11.97531509399414], [-20.405773162841797, 0.33779406547546387, -12.040019989013672], [-20.155773162841797, 0.33779406547546387, -12.040019989013672], [-19.905773162841797, 0.33779406547546387, -12.040019989013672], [-19.664291381835938, 0.33779406547546387, -12.104724884033203], [-19.414291381835938, 0.33779406547546387, -12.104724884033203], [-19.164291381835938, 0.33779406547546387, -12.104724884033203], [-18.914291381835938, 0.33779406547546387, -12.104724884033203], [-18.664291381835938, 0.33779406547546387, -12.104724884033203], [-18.422809600830078, 0.33779406547546387, -12.040019989013672], [-18.18132781982422, 0.33779406547546387, -11.97531509399414], [-17.93132781982422, 0.33779406547546387, -11.97531509399414], [-17.68984603881836, 0.33779406547546387, -11.91061019897461], [-17.4483642578125, 0.33779406547546387, -11.845905303955078], [-17.231857299804688, 0.33779406547546387, -11.720905303955078], [-17.015350341796875, 0.33779406547546387, -11.595905303955078], [-16.798843383789062, 0.33779406547546387, -11.470905303955078], [-16.557361602783203, 0.33779406547546387, -11.406200408935547], [-16.315879821777344, 0.33779406547546387, -11.341495513916016], [-16.09937286376953, 0.33779406547546387, -11.216495513916016], [-15.857891082763672, 0.33779406547546387, -11.151790618896484], [-15.641385078430176, 0.33779406547546387, -11.026790618896484], [-15.42487907409668, 0.33779406547546387, -10.901790618896484], [-15.208373069763184, 0.33779406547546387, -10.776790618896484], [-14.966891288757324, 0.33779406547546387, -10.712085723876953], [-14.725409507751465, 0.33779406547546387, -10.647380828857422], [-14.508903503417969, 0.33779406547546387, -10.522380828857422], [-14.292397499084473, 0.33779406547546387, -10.397380828857422], [-14.227692604064941, 0.33779406547546387, -10.155899047851562], [-14.227692604064941, 0.33779406547546387, -9.905899047851562], [-14.227692604064941, 0.33779406547546387, -9.655899047851562]]", "gt_actions": "[3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 3, 1, 1, 0]"}
{"id": 619, "episode_id": "620", "scene_id": "5LpN3gDmAk7", "instruction": "Exit the room to the left of the statue. Turn right into the first door on the right. Go straight and walk into the sitting area and stop near the rug on the floor. ", "start_position": [2.6445600986480713, -1.0843499898910522, 4.1344099044799805], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.196889877319336, -1.0843499898910522, 0.30344900488853455], "goal_radius": 3.0, "reference_path": "[[2.6445600986480713, -1.0843499898910522, 4.1344099044799805], [2.4623301029205322, -1.0843499898910522, 2.726249933242798], [3.121380090713501, -1.0843499898910522, 1.5800100564956665], [4.314909934997559, -1.0843499898910522, 1.5126800537109375], [5.4905900955200195, -1.0843499898910522, 1.5123200416564941], [8.196889877319336, -1.0843499898910522, 0.30344900488853455]]", "geodesic_distance": 7.8419599533081055, "gt_locations": "[[2.6445600986480713, -1.0843499898910522, 4.1344099044799805], [2.579855442047119, -1.0843499898910522, 3.8929283618927], [2.515150785446167, -1.0843499898910522, 3.65144681930542], [2.515150785446167, -1.0843499898910522, 3.40144681930542], [2.515150785446167, -1.0843499898910522, 3.15144681930542], [2.579855442047119, -1.0843499898910522, 2.9099652767181396], [2.6445600986480713, -1.0843499898910522, 2.6684837341308594], [2.7092647552490234, -1.0843499898910522, 2.427002191543579], [2.7739694118499756, -1.0843499898910522, 2.185520648956299], [2.8386740684509277, -1.0843499898910522, 1.944039225578308], [3.055180549621582, -1.0843499898910522, 1.819039225578308], [3.2966620922088623, -1.0843499898910522, 1.7543344497680664], [3.5381436347961426, -1.0843499898910522, 1.6896296739578247], [3.779625177383423, -1.0843499898910522, 1.624924898147583], [4.021106719970703, -1.0843499898910522, 1.5602201223373413], [4.271106719970703, -1.0843499898910522, 1.5602201223373413], [4.521106719970703, -1.0843499898910522, 1.5602201223373413], [4.771106719970703, -1.0843499898910522, 1.5602201223373413], [5.021106719970703, -1.0843499898910522, 1.5602201223373413], [5.262588024139404, -1.0843499898910522, 1.4955153465270996], [5.5040693283081055, -1.0843499898910522, 1.430810570716858], [5.745550632476807, -1.0843499898910522, 1.3661057949066162], [5.987031936645508, -1.0843499898910522, 1.3014010190963745], [6.228513240814209, -1.0771474838256836, 1.2366962432861328], [6.445019721984863, -1.0795364379882812, 1.1116962432861328], [6.661526203155518, -1.0572688579559326, 0.9866962432861328], [6.878032684326172, -1.0350631475448608, 0.8616962432861328], [7.094539165496826, -1.0128573179244995, 0.7366962432861328], [7.3110456466674805, -0.9906514883041382, 0.6116962432861328], [7.552526950836182, -0.9658842086791992, 0.5469914674758911], [7.794008255004883, -0.9411168694496155, 0.4822866916656494]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 620, "episode_id": "621", "scene_id": "5LpN3gDmAk7", "instruction": "Walk through the walkway to the left of the wired man, and take you first right into a room. Walk into the room, and stop once you reach the gray carpet lying on the ground. ", "start_position": [2.6445600986480713, -1.0843499898910522, 4.1344099044799805], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.196889877319336, -1.0843499898910522, 0.30344900488853455], "goal_radius": 3.0, "reference_path": "[[2.6445600986480713, -1.0843499898910522, 4.1344099044799805], [2.4623301029205322, -1.0843499898910522, 2.726249933242798], [3.121380090713501, -1.0843499898910522, 1.5800100564956665], [4.314909934997559, -1.0843499898910522, 1.5126800537109375], [5.4905900955200195, -1.0843499898910522, 1.5123200416564941], [8.196889877319336, -1.0843499898910522, 0.30344900488853455]]", "geodesic_distance": 7.8419599533081055, "gt_locations": "[[2.6445600986480713, -1.0843499898910522, 4.1344099044799805], [2.579855442047119, -1.0843499898910522, 3.8929283618927], [2.515150785446167, -1.0843499898910522, 3.65144681930542], [2.515150785446167, -1.0843499898910522, 3.40144681930542], [2.515150785446167, -1.0843499898910522, 3.15144681930542], [2.579855442047119, -1.0843499898910522, 2.9099652767181396], [2.6445600986480713, -1.0843499898910522, 2.6684837341308594], [2.7092647552490234, -1.0843499898910522, 2.427002191543579], [2.7739694118499756, -1.0843499898910522, 2.185520648956299], [2.8386740684509277, -1.0843499898910522, 1.944039225578308], [3.055180549621582, -1.0843499898910522, 1.819039225578308], [3.2966620922088623, -1.0843499898910522, 1.7543344497680664], [3.5381436347961426, -1.0843499898910522, 1.6896296739578247], [3.779625177383423, -1.0843499898910522, 1.624924898147583], [4.021106719970703, -1.0843499898910522, 1.5602201223373413], [4.271106719970703, -1.0843499898910522, 1.5602201223373413], [4.521106719970703, -1.0843499898910522, 1.5602201223373413], [4.771106719970703, -1.0843499898910522, 1.5602201223373413], [5.021106719970703, -1.0843499898910522, 1.5602201223373413], [5.262588024139404, -1.0843499898910522, 1.4955153465270996], [5.5040693283081055, -1.0843499898910522, 1.430810570716858], [5.745550632476807, -1.0843499898910522, 1.3661057949066162], [5.987031936645508, -1.0843499898910522, 1.3014010190963745], [6.228513240814209, -1.0771474838256836, 1.2366962432861328], [6.445019721984863, -1.0795364379882812, 1.1116962432861328], [6.661526203155518, -1.0572688579559326, 0.9866962432861328], [6.878032684326172, -1.0350631475448608, 0.8616962432861328], [7.094539165496826, -1.0128573179244995, 0.7366962432861328], [7.3110456466674805, -0.9906514883041382, 0.6116962432861328], [7.552526950836182, -0.9658842086791992, 0.5469914674758911], [7.794008255004883, -0.9411168694496155, 0.4822866916656494]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 621, "episode_id": "622", "scene_id": "5LpN3gDmAk7", "instruction": "Go into the hallway and to the right. Wait in the office, in front of the loveseat. ", "start_position": [2.6445600986480713, -1.0843499898910522, 4.1344099044799805], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.196889877319336, -1.0843499898910522, 0.30344900488853455], "goal_radius": 3.0, "reference_path": "[[2.6445600986480713, -1.0843499898910522, 4.1344099044799805], [2.4623301029205322, -1.0843499898910522, 2.726249933242798], [3.121380090713501, -1.0843499898910522, 1.5800100564956665], [4.314909934997559, -1.0843499898910522, 1.5126800537109375], [5.4905900955200195, -1.0843499898910522, 1.5123200416564941], [8.196889877319336, -1.0843499898910522, 0.30344900488853455]]", "geodesic_distance": 7.8419599533081055, "gt_locations": "[[2.6445600986480713, -1.0843499898910522, 4.1344099044799805], [2.579855442047119, -1.0843499898910522, 3.8929283618927], [2.515150785446167, -1.0843499898910522, 3.65144681930542], [2.515150785446167, -1.0843499898910522, 3.40144681930542], [2.515150785446167, -1.0843499898910522, 3.15144681930542], [2.579855442047119, -1.0843499898910522, 2.9099652767181396], [2.6445600986480713, -1.0843499898910522, 2.6684837341308594], [2.7092647552490234, -1.0843499898910522, 2.427002191543579], [2.7739694118499756, -1.0843499898910522, 2.185520648956299], [2.8386740684509277, -1.0843499898910522, 1.944039225578308], [3.055180549621582, -1.0843499898910522, 1.819039225578308], [3.2966620922088623, -1.0843499898910522, 1.7543344497680664], [3.5381436347961426, -1.0843499898910522, 1.6896296739578247], [3.779625177383423, -1.0843499898910522, 1.624924898147583], [4.021106719970703, -1.0843499898910522, 1.5602201223373413], [4.271106719970703, -1.0843499898910522, 1.5602201223373413], [4.521106719970703, -1.0843499898910522, 1.5602201223373413], [4.771106719970703, -1.0843499898910522, 1.5602201223373413], [5.021106719970703, -1.0843499898910522, 1.5602201223373413], [5.262588024139404, -1.0843499898910522, 1.4955153465270996], [5.5040693283081055, -1.0843499898910522, 1.430810570716858], [5.745550632476807, -1.0843499898910522, 1.3661057949066162], [5.987031936645508, -1.0843499898910522, 1.3014010190963745], [6.228513240814209, -1.0771474838256836, 1.2366962432861328], [6.445019721984863, -1.0795364379882812, 1.1116962432861328], [6.661526203155518, -1.0572688579559326, 0.9866962432861328], [6.878032684326172, -1.0350631475448608, 0.8616962432861328], [7.094539165496826, -1.0128573179244995, 0.7366962432861328], [7.3110456466674805, -0.9906514883041382, 0.6116962432861328], [7.552526950836182, -0.9658842086791992, 0.5469914674758911], [7.794008255004883, -0.9411168694496155, 0.4822866916656494]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 3, 1, 1, 1, 1, 1, 3, 3, 3, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 622, "episode_id": "623", "scene_id": "rPc6DW4iMge", "instruction": "Walk down the hall and wait inside the bedroom at the end of the hall. ", "start_position": [-2.251620054244995, 0.15942811965942383, 5.321390151977539], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-2.264580011367798, 0.15942811965942383, 11.42870044708252], "goal_radius": 3.0, "reference_path": "[[-2.251620054244995, 0.15942811965942383, 5.321390151977539], [-2.2628700733184814, 0.15942811965942383, 6.276370048522949], [-2.1925599575042725, 0.15942811965942383, 7.506159782409668], [-2.314850091934204, 0.15942811965942383, 8.220680236816406], [-2.2592999935150146, 0.15942811965942383, 10.241999626159668], [-2.264580011367798, 0.15942811965942383, 11.42870044708252]]", "geodesic_distance": 6.107324123382568, "gt_locations": "[[-2.251620054244995, 0.15942811965942383, 5.321390151977539], [-2.251620054244995, 0.15942811965942383, 5.571390151977539], [-2.251620054244995, 0.15942811965942383, 5.821390151977539], [-2.251620054244995, 0.15942811965942383, 6.071390151977539], [-2.251620054244995, 0.15942811965942383, 6.321390151977539], [-2.251620054244995, 0.15942811965942383, 6.571390151977539], [-2.251620054244995, 0.15942811965942383, 6.821390151977539], [-2.251620054244995, 0.15942811965942383, 7.071390151977539], [-2.251620054244995, 0.15942811965942383, 7.321390151977539], [-2.251620054244995, 0.15942811965942383, 7.571390151977539], [-2.251620054244995, 0.15942811965942383, 7.821390151977539], [-2.251620054244995, 0.15942811965942383, 8.071390151977539], [-2.251620054244995, 0.15942811965942383, 8.321390151977539], [-2.251620054244995, 0.15942811965942383, 8.571390151977539], [-2.251620054244995, 0.15942811965942383, 8.821390151977539], [-2.251620054244995, 0.15942811965942383, 9.071390151977539], [-2.251620054244995, 0.15942811965942383, 9.321390151977539], [-2.251620054244995, 0.15942811965942383, 9.571390151977539], [-2.251620054244995, 0.15942811965942383, 9.821390151977539], [-2.251620054244995, 0.15942811965942383, 10.071390151977539], [-2.251620054244995, 0.15942811965942383, 10.321390151977539], [-2.251620054244995, 0.15942811965942383, 10.571390151977539], [-2.251620054244995, 0.15942811965942383, 10.821390151977539], [-2.251620054244995, 0.15942811965942383, 11.071390151977539]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 623, "episode_id": "624", "scene_id": "rPc6DW4iMge", "instruction": "Walk all the way straight towards the room that is in front of you. Enter the room, and stop next to the sofa that is on the left. ", "start_position": [-2.251620054244995, 0.15942811965942383, 5.321390151977539], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-2.264580011367798, 0.15942811965942383, 11.42870044708252], "goal_radius": 3.0, "reference_path": "[[-2.251620054244995, 0.15942811965942383, 5.321390151977539], [-2.2628700733184814, 0.15942811965942383, 6.276370048522949], [-2.1925599575042725, 0.15942811965942383, 7.506159782409668], [-2.314850091934204, 0.15942811965942383, 8.220680236816406], [-2.2592999935150146, 0.15942811965942383, 10.241999626159668], [-2.264580011367798, 0.15942811965942383, 11.42870044708252]]", "geodesic_distance": 6.107324123382568, "gt_locations": "[[-2.251620054244995, 0.15942811965942383, 5.321390151977539], [-2.251620054244995, 0.15942811965942383, 5.571390151977539], [-2.251620054244995, 0.15942811965942383, 5.821390151977539], [-2.251620054244995, 0.15942811965942383, 6.071390151977539], [-2.251620054244995, 0.15942811965942383, 6.321390151977539], [-2.251620054244995, 0.15942811965942383, 6.571390151977539], [-2.251620054244995, 0.15942811965942383, 6.821390151977539], [-2.251620054244995, 0.15942811965942383, 7.071390151977539], [-2.251620054244995, 0.15942811965942383, 7.321390151977539], [-2.251620054244995, 0.15942811965942383, 7.571390151977539], [-2.251620054244995, 0.15942811965942383, 7.821390151977539], [-2.251620054244995, 0.15942811965942383, 8.071390151977539], [-2.251620054244995, 0.15942811965942383, 8.321390151977539], [-2.251620054244995, 0.15942811965942383, 8.571390151977539], [-2.251620054244995, 0.15942811965942383, 8.821390151977539], [-2.251620054244995, 0.15942811965942383, 9.071390151977539], [-2.251620054244995, 0.15942811965942383, 9.321390151977539], [-2.251620054244995, 0.15942811965942383, 9.571390151977539], [-2.251620054244995, 0.15942811965942383, 9.821390151977539], [-2.251620054244995, 0.15942811965942383, 10.071390151977539], [-2.251620054244995, 0.15942811965942383, 10.321390151977539], [-2.251620054244995, 0.15942811965942383, 10.571390151977539], [-2.251620054244995, 0.15942811965942383, 10.821390151977539], [-2.251620054244995, 0.15942811965942383, 11.071390151977539]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 624, "episode_id": "625", "scene_id": "rPc6DW4iMge", "instruction": "With the stairs to your left, move forward, parallel to the wood grain on the floor until you enter a room with a bed to your right and couch and fireplace to your left. ", "start_position": [-2.251620054244995, 0.15942811965942383, 5.321390151977539], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [-2.264580011367798, 0.15942811965942383, 11.42870044708252], "goal_radius": 3.0, "reference_path": "[[-2.251620054244995, 0.15942811965942383, 5.321390151977539], [-2.2628700733184814, 0.15942811965942383, 6.276370048522949], [-2.1925599575042725, 0.15942811965942383, 7.506159782409668], [-2.314850091934204, 0.15942811965942383, 8.220680236816406], [-2.2592999935150146, 0.15942811965942383, 10.241999626159668], [-2.264580011367798, 0.15942811965942383, 11.42870044708252]]", "geodesic_distance": 6.107324123382568, "gt_locations": "[[-2.251620054244995, 0.15942811965942383, 5.321390151977539], [-2.251620054244995, 0.15942811965942383, 5.571390151977539], [-2.251620054244995, 0.15942811965942383, 5.821390151977539], [-2.251620054244995, 0.15942811965942383, 6.071390151977539], [-2.251620054244995, 0.15942811965942383, 6.321390151977539], [-2.251620054244995, 0.15942811965942383, 6.571390151977539], [-2.251620054244995, 0.15942811965942383, 6.821390151977539], [-2.251620054244995, 0.15942811965942383, 7.071390151977539], [-2.251620054244995, 0.15942811965942383, 7.321390151977539], [-2.251620054244995, 0.15942811965942383, 7.571390151977539], [-2.251620054244995, 0.15942811965942383, 7.821390151977539], [-2.251620054244995, 0.15942811965942383, 8.071390151977539], [-2.251620054244995, 0.15942811965942383, 8.321390151977539], [-2.251620054244995, 0.15942811965942383, 8.571390151977539], [-2.251620054244995, 0.15942811965942383, 8.821390151977539], [-2.251620054244995, 0.15942811965942383, 9.071390151977539], [-2.251620054244995, 0.15942811965942383, 9.321390151977539], [-2.251620054244995, 0.15942811965942383, 9.571390151977539], [-2.251620054244995, 0.15942811965942383, 9.821390151977539], [-2.251620054244995, 0.15942811965942383, 10.071390151977539], [-2.251620054244995, 0.15942811965942383, 10.321390151977539], [-2.251620054244995, 0.15942811965942383, 10.571390151977539], [-2.251620054244995, 0.15942811965942383, 10.821390151977539], [-2.251620054244995, 0.15942811965942383, 11.071390151977539]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 625, "episode_id": "626", "scene_id": "EDJbREhghzL", "instruction": "Go to the right of the picture of the mountain and then down the hallway, go straight down the hallway, go into the first doorway passed the black chairs to the right, take a couple steps in and stop. ", "start_position": [-3.3391900062561035, 0.4494604766368866, 5.114009857177734], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [4.772029876708984, 0.1033330038189888, 4.168900012969971], "goal_radius": 3.0, "reference_path": "[[-3.3391900062561035, 0.4494604766368866, 5.114009857177734], [-1.837820053100586, 0.1033330038189888, 3.3931798934936523], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [3.600680112838745, 0.1033330038189888, 2.645319938659668], [4.5863800048828125, 0.1033330038189888, 3.402169942855835], [4.772029876708984, 0.1033330038189888, 4.168900012969971]]", "geodesic_distance": 9.612661361694336, "gt_locations": "[[-3.3391900062561035, 0.4494604766368866, 5.114009857177734], [-3.3391900062561035, 0.2634139955043793, 4.864009857177734], [-3.1624133586883545, 0.13480910658836365, 4.687232971191406], [-2.9856367111206055, 0.1033330038189888, 4.510456085205078], [-2.8088600635528564, 0.1033330038189888, 4.33367919921875], [-2.6320834159851074, 0.1033330038189888, 4.156902313232422], [-2.4553067684173584, 0.1033330038189888, 3.980125665664673], [-2.2785301208496094, 0.1033330038189888, 3.803349018096924], [-2.1017534732818604, 0.1033330038189888, 3.626572370529175], [-1.8852471113204956, 0.1033330038189888, 3.501572370529175], [-1.6687407493591309, 0.1033330038189888, 3.376572370529175], [-1.4522343873977661, 0.1033330038189888, 3.251572370529175], [-1.2357280254364014, 0.1033330038189888, 3.126572370529175], [-1.0192216634750366, 0.1033330038189888, 3.001572370529175], [-0.8027153015136719, 0.1033330038189888, 2.876572370529175], [-0.5527153015136719, 0.1033330038189888, 2.876572370529175], [-0.3027153015136719, 0.1033330038189888, 2.876572370529175], [-0.052715301513671875, 0.1033330038189888, 2.876572370529175], [0.18876616656780243, 0.1033330038189888, 2.8118677139282227], [0.4387661814689636, 0.1033330038189888, 2.8118677139282227], [0.6887662410736084, 0.1033330038189888, 2.8118677139282227], [0.9387662410736084, 0.1033330038189888, 2.8118677139282227], [1.1887662410736084, 0.1033330038189888, 2.8118677139282227], [1.4387662410736084, 0.1033330038189888, 2.8118677139282227], [1.6887662410736084, 0.1033330038189888, 2.8118677139282227], [1.9387662410736084, 0.1033330038189888, 2.8118677139282227], [2.1887662410736084, 0.1033330038189888, 2.8118677139282227], [2.4387662410736084, 0.1033330038189888, 2.8118677139282227], [2.6887662410736084, 0.1033330038189888, 2.8118677139282227], [2.9302477836608887, 0.1033330038189888, 2.7471630573272705], [3.171729326248169, 0.1033330038189888, 2.6824584007263184], [3.413210868835449, 0.1033330038189888, 2.7471632957458496], [3.6546924114227295, 0.1033330038189888, 2.811868190765381], [3.8961739540100098, 0.1033330038189888, 2.876573085784912], [4.112680435180664, 0.1033330038189888, 3.001573085784912], [4.294929504394531, 0.1033330038189888, 3.1894545555114746], [4.419929504394531, 0.1033330038189888, 3.40596079826355], [4.544929504394531, 0.1033330038189888, 3.622467041015625], [4.669929504394531, 0.1033330038189888, 3.8389732837677]]", "gt_actions": "[1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 626, "episode_id": "627", "scene_id": "EDJbREhghzL", "instruction": "Walk down the stairs and turn right. walk down the hallway past the chairs and fireplace. Turn right and walk into the bathroom and stop. ", "start_position": [-3.3391900062561035, 0.4494604766368866, 5.114009857177734], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [4.772029876708984, 0.1033330038189888, 4.168900012969971], "goal_radius": 3.0, "reference_path": "[[-3.3391900062561035, 0.4494604766368866, 5.114009857177734], [-1.837820053100586, 0.1033330038189888, 3.3931798934936523], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [3.600680112838745, 0.1033330038189888, 2.645319938659668], [4.5863800048828125, 0.1033330038189888, 3.402169942855835], [4.772029876708984, 0.1033330038189888, 4.168900012969971]]", "geodesic_distance": 9.612661361694336, "gt_locations": "[[-3.3391900062561035, 0.4494604766368866, 5.114009857177734], [-3.3391900062561035, 0.2634139955043793, 4.864009857177734], [-3.1624133586883545, 0.13480910658836365, 4.687232971191406], [-2.9856367111206055, 0.1033330038189888, 4.510456085205078], [-2.8088600635528564, 0.1033330038189888, 4.33367919921875], [-2.6320834159851074, 0.1033330038189888, 4.156902313232422], [-2.4553067684173584, 0.1033330038189888, 3.980125665664673], [-2.2785301208496094, 0.1033330038189888, 3.803349018096924], [-2.1017534732818604, 0.1033330038189888, 3.626572370529175], [-1.8852471113204956, 0.1033330038189888, 3.501572370529175], [-1.6687407493591309, 0.1033330038189888, 3.376572370529175], [-1.4522343873977661, 0.1033330038189888, 3.251572370529175], [-1.2357280254364014, 0.1033330038189888, 3.126572370529175], [-1.0192216634750366, 0.1033330038189888, 3.001572370529175], [-0.8027153015136719, 0.1033330038189888, 2.876572370529175], [-0.5527153015136719, 0.1033330038189888, 2.876572370529175], [-0.3027153015136719, 0.1033330038189888, 2.876572370529175], [-0.052715301513671875, 0.1033330038189888, 2.876572370529175], [0.18876616656780243, 0.1033330038189888, 2.8118677139282227], [0.4387661814689636, 0.1033330038189888, 2.8118677139282227], [0.6887662410736084, 0.1033330038189888, 2.8118677139282227], [0.9387662410736084, 0.1033330038189888, 2.8118677139282227], [1.1887662410736084, 0.1033330038189888, 2.8118677139282227], [1.4387662410736084, 0.1033330038189888, 2.8118677139282227], [1.6887662410736084, 0.1033330038189888, 2.8118677139282227], [1.9387662410736084, 0.1033330038189888, 2.8118677139282227], [2.1887662410736084, 0.1033330038189888, 2.8118677139282227], [2.4387662410736084, 0.1033330038189888, 2.8118677139282227], [2.6887662410736084, 0.1033330038189888, 2.8118677139282227], [2.9302477836608887, 0.1033330038189888, 2.7471630573272705], [3.171729326248169, 0.1033330038189888, 2.6824584007263184], [3.413210868835449, 0.1033330038189888, 2.7471632957458496], [3.6546924114227295, 0.1033330038189888, 2.811868190765381], [3.8961739540100098, 0.1033330038189888, 2.876573085784912], [4.112680435180664, 0.1033330038189888, 3.001573085784912], [4.294929504394531, 0.1033330038189888, 3.1894545555114746], [4.419929504394531, 0.1033330038189888, 3.40596079826355], [4.544929504394531, 0.1033330038189888, 3.622467041015625], [4.669929504394531, 0.1033330038189888, 3.8389732837677]]", "gt_actions": "[1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 627, "episode_id": "628", "scene_id": "EDJbREhghzL", "instruction": "Go down the stairs, and take a right. Go down the hall and past the sitting area. Enter the bathroom on the right and stop in front of the sink. ", "start_position": [-3.3391900062561035, 0.4494604766368866, 5.114009857177734], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [4.772029876708984, 0.1033330038189888, 4.168900012969971], "goal_radius": 3.0, "reference_path": "[[-3.3391900062561035, 0.4494604766368866, 5.114009857177734], [-1.837820053100586, 0.1033330038189888, 3.3931798934936523], [-0.33696800470352173, 0.1033330038189888, 2.7145800590515137], [3.600680112838745, 0.1033330038189888, 2.645319938659668], [4.5863800048828125, 0.1033330038189888, 3.402169942855835], [4.772029876708984, 0.1033330038189888, 4.168900012969971]]", "geodesic_distance": 9.612661361694336, "gt_locations": "[[-3.3391900062561035, 0.4494604766368866, 5.114009857177734], [-3.3391900062561035, 0.2634139955043793, 4.864009857177734], [-3.1624133586883545, 0.13480910658836365, 4.687232971191406], [-2.9856367111206055, 0.1033330038189888, 4.510456085205078], [-2.8088600635528564, 0.1033330038189888, 4.33367919921875], [-2.6320834159851074, 0.1033330038189888, 4.156902313232422], [-2.4553067684173584, 0.1033330038189888, 3.980125665664673], [-2.2785301208496094, 0.1033330038189888, 3.803349018096924], [-2.1017534732818604, 0.1033330038189888, 3.626572370529175], [-1.8852471113204956, 0.1033330038189888, 3.501572370529175], [-1.6687407493591309, 0.1033330038189888, 3.376572370529175], [-1.4522343873977661, 0.1033330038189888, 3.251572370529175], [-1.2357280254364014, 0.1033330038189888, 3.126572370529175], [-1.0192216634750366, 0.1033330038189888, 3.001572370529175], [-0.8027153015136719, 0.1033330038189888, 2.876572370529175], [-0.5527153015136719, 0.1033330038189888, 2.876572370529175], [-0.3027153015136719, 0.1033330038189888, 2.876572370529175], [-0.052715301513671875, 0.1033330038189888, 2.876572370529175], [0.18876616656780243, 0.1033330038189888, 2.8118677139282227], [0.4387661814689636, 0.1033330038189888, 2.8118677139282227], [0.6887662410736084, 0.1033330038189888, 2.8118677139282227], [0.9387662410736084, 0.1033330038189888, 2.8118677139282227], [1.1887662410736084, 0.1033330038189888, 2.8118677139282227], [1.4387662410736084, 0.1033330038189888, 2.8118677139282227], [1.6887662410736084, 0.1033330038189888, 2.8118677139282227], [1.9387662410736084, 0.1033330038189888, 2.8118677139282227], [2.1887662410736084, 0.1033330038189888, 2.8118677139282227], [2.4387662410736084, 0.1033330038189888, 2.8118677139282227], [2.6887662410736084, 0.1033330038189888, 2.8118677139282227], [2.9302477836608887, 0.1033330038189888, 2.7471630573272705], [3.171729326248169, 0.1033330038189888, 2.6824584007263184], [3.413210868835449, 0.1033330038189888, 2.7471632957458496], [3.6546924114227295, 0.1033330038189888, 2.811868190765381], [3.8961739540100098, 0.1033330038189888, 2.876573085784912], [4.112680435180664, 0.1033330038189888, 3.001573085784912], [4.294929504394531, 0.1033330038189888, 3.1894545555114746], [4.419929504394531, 0.1033330038189888, 3.40596079826355], [4.544929504394531, 0.1033330038189888, 3.622467041015625], [4.669929504394531, 0.1033330038189888, 3.8389732837677]]", "gt_actions": "[1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 0]"}
{"id": 628, "episode_id": "629", "scene_id": "82sE5b5pLXE", "instruction": "Enter into the house through the open door. Follow the brick pathway up to the door. The hillside will be to your right. Once you are in the house, walk down the entry way and down the two stairs on the left into the foyer area. Stop to the left of the piano. ", "start_position": [-23.484899520874023, 0.33779406547546387, -12.305100440979004], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-14.962699890136719, 0.17769576609134674, -13.889900207519531], "goal_radius": 3.0, "reference_path": "[[-23.484899520874023, 0.33779406547546387, -12.305100440979004], [-19.287200927734375, 0.33779406547546387, -12.143400192260742], [-18.003799438476562, 0.33779406547546387, -12.250499725341797], [-15.19540023803711, 0.33779406547546387, -12.48009967803955], [-14.962699890136719, 0.17769576609134674, -13.889900207519531]]", "geodesic_distance": 9.330098152160645, "gt_locations": "[[-23.484899520874023, 0.33779406547546387, -12.305100440979004], [-23.234899520874023, 0.33779406547546387, -12.305100440979004], [-22.984899520874023, 0.33779406547546387, -12.305100440979004], [-22.734899520874023, 0.34051164984703064, -12.305100440979004], [-22.484899520874023, 0.3735129237174988, -12.305100440979004], [-22.234899520874023, 0.33779406547546387, -12.305100440979004], [-21.984899520874023, 0.33779406547546387, -12.305100440979004], [-21.734899520874023, 0.33779406547546387, -12.305100440979004], [-21.484899520874023, 0.33779406547546387, -12.305100440979004], [-21.234899520874023, 0.33779406547546387, -12.305100440979004], [-20.984899520874023, 0.33779406547546387, -12.305100440979004], [-20.734899520874023, 0.33779406547546387, -12.305100440979004], [-20.484899520874023, 0.33779406547546387, -12.305100440979004], [-20.234899520874023, 0.33779406547546387, -12.305100440979004], [-19.993417739868164, 0.33779406547546387, -12.240395545959473], [-19.751935958862305, 0.33779406547546387, -12.175690650939941], [-19.501935958862305, 0.33779406547546387, -12.175690650939941], [-19.251935958862305, 0.33779406547546387, -12.175690650939941], [-19.001935958862305, 0.33779406547546387, -12.175690650939941], [-18.751935958862305, 0.33779406547546387, -12.175690650939941], [-18.501935958862305, 0.33779406547546387, -12.175690650939941], [-18.251935958862305, 0.33779406547546387, -12.175690650939941], [-18.001935958862305, 0.33779406547546387, -12.175690650939941], [-17.751935958862305, 0.33779406547546387, -12.175690650939941], [-17.501935958862305, 0.33779406547546387, -12.175690650939941], [-17.251935958862305, 0.33779406547546387, -12.175690650939941], [-17.001935958862305, 0.33779406547546387, -12.175690650939941], [-16.751935958862305, 0.33779406547546387, -12.175690650939941], [-16.501935958862305, 0.33779406547546387, -12.175690650939941], [-16.260454177856445, 0.33779406547546387, -12.240395545959473], [-16.018972396850586, 0.33779406547546387, -12.305100440979004], [-15.768972396850586, 0.33779406547546387, -12.305100440979004], [-15.527490615844727, 0.33779406547546387, -12.369805335998535], [-15.402490615844727, 0.33779406547546387, -12.586311340332031], [-15.337785720825195, 0.33779406547546387, -12.82779312133789], [-15.273080825805664, 0.31502220034599304, -13.06927490234375], [-15.208375930786133, 0.29962077736854553, -13.31075668334961], [-15.143671035766602, 0.24878248572349548, -13.552238464355469]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 629, "episode_id": "630", "scene_id": "82sE5b5pLXE", "instruction": "Walk into the door near the potted plants.  Turn slight left, and wait next to the piano. ", "start_position": [-23.484899520874023, 0.33779406547546387, -12.305100440979004], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-14.962699890136719, 0.17769576609134674, -13.889900207519531], "goal_radius": 3.0, "reference_path": "[[-23.484899520874023, 0.33779406547546387, -12.305100440979004], [-19.287200927734375, 0.33779406547546387, -12.143400192260742], [-18.003799438476562, 0.33779406547546387, -12.250499725341797], [-15.19540023803711, 0.33779406547546387, -12.48009967803955], [-14.962699890136719, 0.17769576609134674, -13.889900207519531]]", "geodesic_distance": 9.330098152160645, "gt_locations": "[[-23.484899520874023, 0.33779406547546387, -12.305100440979004], [-23.234899520874023, 0.33779406547546387, -12.305100440979004], [-22.984899520874023, 0.33779406547546387, -12.305100440979004], [-22.734899520874023, 0.34051164984703064, -12.305100440979004], [-22.484899520874023, 0.3735129237174988, -12.305100440979004], [-22.234899520874023, 0.33779406547546387, -12.305100440979004], [-21.984899520874023, 0.33779406547546387, -12.305100440979004], [-21.734899520874023, 0.33779406547546387, -12.305100440979004], [-21.484899520874023, 0.33779406547546387, -12.305100440979004], [-21.234899520874023, 0.33779406547546387, -12.305100440979004], [-20.984899520874023, 0.33779406547546387, -12.305100440979004], [-20.734899520874023, 0.33779406547546387, -12.305100440979004], [-20.484899520874023, 0.33779406547546387, -12.305100440979004], [-20.234899520874023, 0.33779406547546387, -12.305100440979004], [-19.993417739868164, 0.33779406547546387, -12.240395545959473], [-19.751935958862305, 0.33779406547546387, -12.175690650939941], [-19.501935958862305, 0.33779406547546387, -12.175690650939941], [-19.251935958862305, 0.33779406547546387, -12.175690650939941], [-19.001935958862305, 0.33779406547546387, -12.175690650939941], [-18.751935958862305, 0.33779406547546387, -12.175690650939941], [-18.501935958862305, 0.33779406547546387, -12.175690650939941], [-18.251935958862305, 0.33779406547546387, -12.175690650939941], [-18.001935958862305, 0.33779406547546387, -12.175690650939941], [-17.751935958862305, 0.33779406547546387, -12.175690650939941], [-17.501935958862305, 0.33779406547546387, -12.175690650939941], [-17.251935958862305, 0.33779406547546387, -12.175690650939941], [-17.001935958862305, 0.33779406547546387, -12.175690650939941], [-16.751935958862305, 0.33779406547546387, -12.175690650939941], [-16.501935958862305, 0.33779406547546387, -12.175690650939941], [-16.260454177856445, 0.33779406547546387, -12.240395545959473], [-16.018972396850586, 0.33779406547546387, -12.305100440979004], [-15.768972396850586, 0.33779406547546387, -12.305100440979004], [-15.527490615844727, 0.33779406547546387, -12.369805335998535], [-15.402490615844727, 0.33779406547546387, -12.586311340332031], [-15.337785720825195, 0.33779406547546387, -12.82779312133789], [-15.273080825805664, 0.31502220034599304, -13.06927490234375], [-15.208375930786133, 0.29962077736854553, -13.31075668334961], [-15.143671035766602, 0.24878248572349548, -13.552238464355469]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 630, "episode_id": "631", "scene_id": "82sE5b5pLXE", "instruction": "Go towards the potted plants, go through the doorway on the right, go straight and then to the left around the circle and go down the two steps and stop. ", "start_position": [-23.484899520874023, 0.33779406547546387, -12.305100440979004], "start_rotation": [-0.0, 0.49999999999999994, -0.0, -0.8660254037844387], "goal_position": [-14.962699890136719, 0.17769576609134674, -13.889900207519531], "goal_radius": 3.0, "reference_path": "[[-23.484899520874023, 0.33779406547546387, -12.305100440979004], [-19.287200927734375, 0.33779406547546387, -12.143400192260742], [-18.003799438476562, 0.33779406547546387, -12.250499725341797], [-15.19540023803711, 0.33779406547546387, -12.48009967803955], [-14.962699890136719, 0.17769576609134674, -13.889900207519531]]", "geodesic_distance": 9.330098152160645, "gt_locations": "[[-23.484899520874023, 0.33779406547546387, -12.305100440979004], [-23.234899520874023, 0.33779406547546387, -12.305100440979004], [-22.984899520874023, 0.33779406547546387, -12.305100440979004], [-22.734899520874023, 0.34051164984703064, -12.305100440979004], [-22.484899520874023, 0.3735129237174988, -12.305100440979004], [-22.234899520874023, 0.33779406547546387, -12.305100440979004], [-21.984899520874023, 0.33779406547546387, -12.305100440979004], [-21.734899520874023, 0.33779406547546387, -12.305100440979004], [-21.484899520874023, 0.33779406547546387, -12.305100440979004], [-21.234899520874023, 0.33779406547546387, -12.305100440979004], [-20.984899520874023, 0.33779406547546387, -12.305100440979004], [-20.734899520874023, 0.33779406547546387, -12.305100440979004], [-20.484899520874023, 0.33779406547546387, -12.305100440979004], [-20.234899520874023, 0.33779406547546387, -12.305100440979004], [-19.993417739868164, 0.33779406547546387, -12.240395545959473], [-19.751935958862305, 0.33779406547546387, -12.175690650939941], [-19.501935958862305, 0.33779406547546387, -12.175690650939941], [-19.251935958862305, 0.33779406547546387, -12.175690650939941], [-19.001935958862305, 0.33779406547546387, -12.175690650939941], [-18.751935958862305, 0.33779406547546387, -12.175690650939941], [-18.501935958862305, 0.33779406547546387, -12.175690650939941], [-18.251935958862305, 0.33779406547546387, -12.175690650939941], [-18.001935958862305, 0.33779406547546387, -12.175690650939941], [-17.751935958862305, 0.33779406547546387, -12.175690650939941], [-17.501935958862305, 0.33779406547546387, -12.175690650939941], [-17.251935958862305, 0.33779406547546387, -12.175690650939941], [-17.001935958862305, 0.33779406547546387, -12.175690650939941], [-16.751935958862305, 0.33779406547546387, -12.175690650939941], [-16.501935958862305, 0.33779406547546387, -12.175690650939941], [-16.260454177856445, 0.33779406547546387, -12.240395545959473], [-16.018972396850586, 0.33779406547546387, -12.305100440979004], [-15.768972396850586, 0.33779406547546387, -12.305100440979004], [-15.527490615844727, 0.33779406547546387, -12.369805335998535], [-15.402490615844727, 0.33779406547546387, -12.586311340332031], [-15.337785720825195, 0.33779406547546387, -12.82779312133789], [-15.273080825805664, 0.31502220034599304, -13.06927490234375], [-15.208375930786133, 0.29962077736854553, -13.31075668334961], [-15.143671035766602, 0.24878248572349548, -13.552238464355469]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 631, "episode_id": "632", "scene_id": "8WUmhLawc2A", "instruction": "Walk to the left of the table and chairs down the hallway. Turn left and walk into the bedroom on the left. walk around the bed and into the bathroom and stop. ", "start_position": [0.027000300586223602, 0.10065700113773346, 1.098080039024353], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.1191200017929077, 0.10065700113773346, 5.783480167388916], "goal_radius": 3.0, "reference_path": "[[0.027000300586223602, 0.10065700113773346, 1.098080039024353], [-2.8622798919677734, 0.10065700113773346, -0.08063569664955139], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-4.468389987945557, 0.10065700113773346, 0.7365990281105042], [-3.37103009223938, 0.10065700113773346, 3.0904901027679443], [-0.5564950108528137, 0.10065700113773346, 5.787899971008301], [1.1191200017929077, 0.10065700113773346, 5.783480167388916]]", "geodesic_distance": 13.220345497131348, "gt_locations": "[[0.027000300586223602, 0.10065700113773346, 1.098080039024353], [-0.18950608372688293, 0.10065700113773346, 0.973080039024353], [-0.40601247549057007, 0.10065700113773346, 0.848080039024353], [-0.6225188970565796, 0.10065700113773346, 0.723080039024353], [-0.8640003204345703, 0.10065700113773346, 0.6583752632141113], [-1.105481743812561, 0.10065700113773346, 0.5936704874038696], [-1.3469631671905518, 0.10065700113773346, 0.5289657115936279], [-1.5884445905685425, 0.10065700113773346, 0.46426093578338623], [-1.8299260139465332, 0.10065700113773346, 0.39955615997314453], [-2.0464322566986084, 0.10065700113773346, 0.27455615997314453], [-2.2629384994506836, 0.10065700113773346, 0.14955615997314453], [-2.479444742202759, 0.10065700113773346, 0.02455615997314453], [-2.720926284790039, 0.10065700113773346, -0.040148600935935974], [-2.9624078273773193, 0.10065700113773346, -0.10485336184501648], [-3.2038893699645996, 0.10065700113773346, -0.16955812275409698], [-3.44537091255188, 0.10065700113773346, -0.2342628836631775], [-3.68685245513916, 0.10065700113773346, -0.2989676594734192], [-3.93685245513916, 0.10065700113773346, -0.2989676296710968], [-4.18685245513916, 0.10065700113773346, -0.2989675998687744], [-4.31185245513916, 0.10065700113773346, -0.08246120810508728], [-4.376557350158691, 0.10065700113773346, 0.15902021527290344], [-4.441262245178223, 0.10065700113773346, 0.40050163865089417], [-4.376557350158691, 0.10065700113773346, 0.641983151435852], [-4.31185245513916, 0.10065700113773346, 0.8834646344184875], [-4.247147560119629, 0.10065700113773346, 1.124946117401123], [-4.182442665100098, 0.10065700113773346, 1.3664276599884033], [-4.057442665100098, 0.10065700113773346, 1.582934021949768], [-3.9324426651000977, 0.10065700113773346, 1.7994403839111328], [-3.8074426651000977, 0.10065700113773346, 2.015946865081787], [-3.6824426651000977, 0.10065700113773346, 2.2324533462524414], [-3.5574426651000977, 0.10065700113773346, 2.4489598274230957], [-3.4324426651000977, 0.10065700113773346, 2.66546630859375], [-3.3677380084991455, 0.10065700113773346, 2.9069478511810303], [-3.2427380084991455, 0.10065700113773346, 3.1234540939331055], [-3.1177380084991455, 0.10065700113773346, 3.3399603366851807], [-2.9927380084991455, 0.10065700113773346, 3.556466579437256], [-2.8677380084991455, 0.10065700113773346, 3.772972822189331], [-2.7427380084991455, 0.10065700113773346, 3.9894790649414062], [-2.6177380084991455, 0.10065700113773346, 4.2059855461120605], [-2.4927380084991455, 0.10065700113773346, 4.422492027282715], [-2.4280333518981934, 0.10065700113773346, 4.663973331451416], [-2.363328695297241, 0.10065700113773346, 4.905454635620117], [-2.298624038696289, 0.10065700113773346, 5.146935939788818], [-2.082117795944214, 0.10065700113773346, 5.271935939788818], [-1.8406363725662231, 0.10065700113773346, 5.33664083480835], [-1.5991549491882324, 0.10065700113773346, 5.401345729827881], [-1.3576735258102417, 0.10065700113773346, 5.466050624847412], [-1.116192102432251, 0.10065700113773346, 5.530755519866943], [-0.8996857404708862, 0.10065700113773346, 5.655755519866943], [-0.6496857404708862, 0.10065700113773346, 5.655755519866943], [-0.39968574047088623, 0.10065700113773346, 5.655755519866943], [-0.14968574047088623, 0.10065700113773346, 5.655755519866943], [0.09179572761058807, 0.10065700113773346, 5.720460414886475], [0.34179574251174927, 0.10065700113773346, 5.720460414886475], [0.5832772254943848, 0.1401222050189972, 5.785165309906006], [0.8332772254943848, 0.19567766785621643, 5.785165309906006]]", "gt_actions": "[2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 3, 1, 2, 1, 3, 1, 2, 1, 0]"}
{"id": 632, "episode_id": "633", "scene_id": "8WUmhLawc2A", "instruction": "Go into the bedroom with an 'E' above the head of the bed. Go into the bathroom. Stop next to the sink. ", "start_position": [0.027000300586223602, 0.10065700113773346, 1.098080039024353], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.1191200017929077, 0.10065700113773346, 5.783480167388916], "goal_radius": 3.0, "reference_path": "[[0.027000300586223602, 0.10065700113773346, 1.098080039024353], [-2.8622798919677734, 0.10065700113773346, -0.08063569664955139], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-4.468389987945557, 0.10065700113773346, 0.7365990281105042], [-3.37103009223938, 0.10065700113773346, 3.0904901027679443], [-0.5564950108528137, 0.10065700113773346, 5.787899971008301], [1.1191200017929077, 0.10065700113773346, 5.783480167388916]]", "geodesic_distance": 13.220345497131348, "gt_locations": "[[0.027000300586223602, 0.10065700113773346, 1.098080039024353], [-0.18950608372688293, 0.10065700113773346, 0.973080039024353], [-0.40601247549057007, 0.10065700113773346, 0.848080039024353], [-0.6225188970565796, 0.10065700113773346, 0.723080039024353], [-0.8640003204345703, 0.10065700113773346, 0.6583752632141113], [-1.105481743812561, 0.10065700113773346, 0.5936704874038696], [-1.3469631671905518, 0.10065700113773346, 0.5289657115936279], [-1.5884445905685425, 0.10065700113773346, 0.46426093578338623], [-1.8299260139465332, 0.10065700113773346, 0.39955615997314453], [-2.0464322566986084, 0.10065700113773346, 0.27455615997314453], [-2.2629384994506836, 0.10065700113773346, 0.14955615997314453], [-2.479444742202759, 0.10065700113773346, 0.02455615997314453], [-2.720926284790039, 0.10065700113773346, -0.040148600935935974], [-2.9624078273773193, 0.10065700113773346, -0.10485336184501648], [-3.2038893699645996, 0.10065700113773346, -0.16955812275409698], [-3.44537091255188, 0.10065700113773346, -0.2342628836631775], [-3.68685245513916, 0.10065700113773346, -0.2989676594734192], [-3.93685245513916, 0.10065700113773346, -0.2989676296710968], [-4.18685245513916, 0.10065700113773346, -0.2989675998687744], [-4.31185245513916, 0.10065700113773346, -0.08246120810508728], [-4.376557350158691, 0.10065700113773346, 0.15902021527290344], [-4.441262245178223, 0.10065700113773346, 0.40050163865089417], [-4.376557350158691, 0.10065700113773346, 0.641983151435852], [-4.31185245513916, 0.10065700113773346, 0.8834646344184875], [-4.247147560119629, 0.10065700113773346, 1.124946117401123], [-4.182442665100098, 0.10065700113773346, 1.3664276599884033], [-4.057442665100098, 0.10065700113773346, 1.582934021949768], [-3.9324426651000977, 0.10065700113773346, 1.7994403839111328], [-3.8074426651000977, 0.10065700113773346, 2.015946865081787], [-3.6824426651000977, 0.10065700113773346, 2.2324533462524414], [-3.5574426651000977, 0.10065700113773346, 2.4489598274230957], [-3.4324426651000977, 0.10065700113773346, 2.66546630859375], [-3.3677380084991455, 0.10065700113773346, 2.9069478511810303], [-3.2427380084991455, 0.10065700113773346, 3.1234540939331055], [-3.1177380084991455, 0.10065700113773346, 3.3399603366851807], [-2.9927380084991455, 0.10065700113773346, 3.556466579437256], [-2.8677380084991455, 0.10065700113773346, 3.772972822189331], [-2.7427380084991455, 0.10065700113773346, 3.9894790649414062], [-2.6177380084991455, 0.10065700113773346, 4.2059855461120605], [-2.4927380084991455, 0.10065700113773346, 4.422492027282715], [-2.4280333518981934, 0.10065700113773346, 4.663973331451416], [-2.363328695297241, 0.10065700113773346, 4.905454635620117], [-2.298624038696289, 0.10065700113773346, 5.146935939788818], [-2.082117795944214, 0.10065700113773346, 5.271935939788818], [-1.8406363725662231, 0.10065700113773346, 5.33664083480835], [-1.5991549491882324, 0.10065700113773346, 5.401345729827881], [-1.3576735258102417, 0.10065700113773346, 5.466050624847412], [-1.116192102432251, 0.10065700113773346, 5.530755519866943], [-0.8996857404708862, 0.10065700113773346, 5.655755519866943], [-0.6496857404708862, 0.10065700113773346, 5.655755519866943], [-0.39968574047088623, 0.10065700113773346, 5.655755519866943], [-0.14968574047088623, 0.10065700113773346, 5.655755519866943], [0.09179572761058807, 0.10065700113773346, 5.720460414886475], [0.34179574251174927, 0.10065700113773346, 5.720460414886475], [0.5832772254943848, 0.1401222050189972, 5.785165309906006], [0.8332772254943848, 0.19567766785621643, 5.785165309906006]]", "gt_actions": "[2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 3, 1, 2, 1, 3, 1, 2, 1, 0]"}
{"id": 633, "episode_id": "634", "scene_id": "8WUmhLawc2A", "instruction": "Walk past large doorway and turn left. Walk toward doorway near photos on the wall. Enter the doorway and walk past the bed. Enter the bathroom and wait. ", "start_position": [0.027000300586223602, 0.10065700113773346, 1.098080039024353], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.1191200017929077, 0.10065700113773346, 5.783480167388916], "goal_radius": 3.0, "reference_path": "[[0.027000300586223602, 0.10065700113773346, 1.098080039024353], [-2.8622798919677734, 0.10065700113773346, -0.08063569664955139], [-4.448750019073486, 0.10065700113773346, -0.34090301394462585], [-4.468389987945557, 0.10065700113773346, 0.7365990281105042], [-3.37103009223938, 0.10065700113773346, 3.0904901027679443], [-0.5564950108528137, 0.10065700113773346, 5.787899971008301], [1.1191200017929077, 0.10065700113773346, 5.783480167388916]]", "geodesic_distance": 13.220345497131348, "gt_locations": "[[0.027000300586223602, 0.10065700113773346, 1.098080039024353], [-0.18950608372688293, 0.10065700113773346, 0.973080039024353], [-0.40601247549057007, 0.10065700113773346, 0.848080039024353], [-0.6225188970565796, 0.10065700113773346, 0.723080039024353], [-0.8640003204345703, 0.10065700113773346, 0.6583752632141113], [-1.105481743812561, 0.10065700113773346, 0.5936704874038696], [-1.3469631671905518, 0.10065700113773346, 0.5289657115936279], [-1.5884445905685425, 0.10065700113773346, 0.46426093578338623], [-1.8299260139465332, 0.10065700113773346, 0.39955615997314453], [-2.0464322566986084, 0.10065700113773346, 0.27455615997314453], [-2.2629384994506836, 0.10065700113773346, 0.14955615997314453], [-2.479444742202759, 0.10065700113773346, 0.02455615997314453], [-2.720926284790039, 0.10065700113773346, -0.040148600935935974], [-2.9624078273773193, 0.10065700113773346, -0.10485336184501648], [-3.2038893699645996, 0.10065700113773346, -0.16955812275409698], [-3.44537091255188, 0.10065700113773346, -0.2342628836631775], [-3.68685245513916, 0.10065700113773346, -0.2989676594734192], [-3.93685245513916, 0.10065700113773346, -0.2989676296710968], [-4.18685245513916, 0.10065700113773346, -0.2989675998687744], [-4.31185245513916, 0.10065700113773346, -0.08246120810508728], [-4.376557350158691, 0.10065700113773346, 0.15902021527290344], [-4.441262245178223, 0.10065700113773346, 0.40050163865089417], [-4.376557350158691, 0.10065700113773346, 0.641983151435852], [-4.31185245513916, 0.10065700113773346, 0.8834646344184875], [-4.247147560119629, 0.10065700113773346, 1.124946117401123], [-4.182442665100098, 0.10065700113773346, 1.3664276599884033], [-4.057442665100098, 0.10065700113773346, 1.582934021949768], [-3.9324426651000977, 0.10065700113773346, 1.7994403839111328], [-3.8074426651000977, 0.10065700113773346, 2.015946865081787], [-3.6824426651000977, 0.10065700113773346, 2.2324533462524414], [-3.5574426651000977, 0.10065700113773346, 2.4489598274230957], [-3.4324426651000977, 0.10065700113773346, 2.66546630859375], [-3.3677380084991455, 0.10065700113773346, 2.9069478511810303], [-3.2427380084991455, 0.10065700113773346, 3.1234540939331055], [-3.1177380084991455, 0.10065700113773346, 3.3399603366851807], [-2.9927380084991455, 0.10065700113773346, 3.556466579437256], [-2.8677380084991455, 0.10065700113773346, 3.772972822189331], [-2.7427380084991455, 0.10065700113773346, 3.9894790649414062], [-2.6177380084991455, 0.10065700113773346, 4.2059855461120605], [-2.4927380084991455, 0.10065700113773346, 4.422492027282715], [-2.4280333518981934, 0.10065700113773346, 4.663973331451416], [-2.363328695297241, 0.10065700113773346, 4.905454635620117], [-2.298624038696289, 0.10065700113773346, 5.146935939788818], [-2.082117795944214, 0.10065700113773346, 5.271935939788818], [-1.8406363725662231, 0.10065700113773346, 5.33664083480835], [-1.5991549491882324, 0.10065700113773346, 5.401345729827881], [-1.3576735258102417, 0.10065700113773346, 5.466050624847412], [-1.116192102432251, 0.10065700113773346, 5.530755519866943], [-0.8996857404708862, 0.10065700113773346, 5.655755519866943], [-0.6496857404708862, 0.10065700113773346, 5.655755519866943], [-0.39968574047088623, 0.10065700113773346, 5.655755519866943], [-0.14968574047088623, 0.10065700113773346, 5.655755519866943], [0.09179572761058807, 0.10065700113773346, 5.720460414886475], [0.34179574251174927, 0.10065700113773346, 5.720460414886475], [0.5832772254943848, 0.1401222050189972, 5.785165309906006], [0.8332772254943848, 0.19567766785621643, 5.785165309906006]]", "gt_actions": "[2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 3, 1, 2, 1, 3, 1, 2, 1, 0]"}
{"id": 634, "episode_id": "635", "scene_id": "sKLMLpTHeUy", "instruction": "Walk past the stairs and down the hall. Walk into the right bedroom at the end of the hall and stop. ", "start_position": [5.7205400466918945, 0.1496591567993164, -1.944200038909912], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [16.545499801635742, 0.1496591567993164, -0.6673769950866699], "goal_radius": 3.0, "reference_path": "[[5.7205400466918945, 0.1496591567993164, -1.944200038909912], [7.394929885864258, 0.1496591567993164, -1.5713900327682495], [8.74114990234375, 0.1496591567993164, -1.8758900165557861], [11.85099983215332, 0.1496591567993164, -2.755959987640381], [14.141400337219238, 0.1496591567993164, -2.643120050430298], [16.461999893188477, 0.1496591567993164, -1.9354000091552734], [16.545499801635742, 0.1496591567993164, -0.6673769950866699]]", "geodesic_distance": 11.997434616088867, "gt_locations": "[[5.7205400466918945, 0.1496591567993164, -1.944200038909912], [5.962021350860596, 0.1496591567993164, -1.8794951438903809], [6.203502655029297, 0.1496591567993164, -1.8147902488708496], [6.444983959197998, 0.1496591567993164, -1.7500853538513184], [6.686465263366699, 0.1496591567993164, -1.685380458831787], [6.9279465675354, 0.1496591567993164, -1.6206755638122559], [7.1779465675354, 0.1496591567993164, -1.6206755638122559], [7.4279465675354, 0.1496591567993164, -1.6206755638122559], [7.669427871704102, 0.1496591567993164, -1.6853803396224976], [7.910909175872803, 0.1496591567993164, -1.7500851154327393], [8.152390480041504, 0.1496591567993164, -1.814789891242981], [8.393872261047363, 0.1496591567993164, -1.8794946670532227], [8.635354042053223, 0.1496591567993164, -1.9441994428634644], [8.876835823059082, 0.1496591567993164, -2.008904218673706], [9.118317604064941, 0.1496591567993164, -2.073608875274658], [9.3597993850708, 0.1496591567993164, -2.1383135318756104], [9.60128116607666, 0.1496591567993164, -2.2030181884765625], [9.84276294708252, 0.1496591567993164, -2.2677228450775146], [10.084244728088379, 0.1496591567993164, -2.332427501678467], [10.325726509094238, 0.1496591567993164, -2.397132158279419], [10.567208290100098, 0.1496591567993164, -2.461836814880371], [10.808690071105957, 0.1496591567993164, -2.5265414714813232], [11.050171852111816, 0.1496591567993164, -2.5912461280822754], [11.291653633117676, 0.1496591567993164, -2.6559507846832275], [11.533135414123535, 0.1496591567993164, -2.7206554412841797], [11.783135414123535, 0.1496591567993164, -2.7206554412841797], [12.033135414123535, 0.1496591567993164, -2.7206554412841797], [12.283135414123535, 0.1496591567993164, -2.7206554412841797], [12.533135414123535, 0.1496591567993164, -2.7206554412841797], [12.783135414123535, 0.1496591567993164, -2.7206554412841797], [13.033135414123535, 0.1496591567993164, -2.7206554412841797], [13.283135414123535, 0.1496591567993164, -2.7206554412841797], [13.533135414123535, 0.1496591567993164, -2.7206554412841797], [13.783135414123535, 0.1496591567993164, -2.7206554412841797], [14.024617195129395, 0.1496591567993164, -2.6559505462646484], [14.266098976135254, 0.1496591567993164, -2.591245651245117], [14.507580757141113, 0.1496591567993164, -2.526540756225586], [14.749062538146973, 0.1496591567993164, -2.4618358612060547], [14.990544319152832, 0.1496591567993164, -2.3971309661865234], [15.240544319152832, 0.1496591567993164, -2.3971309661865234], [15.490544319152832, 0.1496591567993164, -2.3971309661865234], [15.732026100158691, 0.1496591567993164, -2.332426071166992], [15.97350788116455, 0.1496591567993164, -2.267721176147461], [16.173545837402344, 0.1496591567993164, -2.072655439376831], [16.298545837402344, 0.1496591567993164, -1.8561490774154663], [16.423545837402344, 0.1496591567993164, -1.6396427154541016], [16.488250732421875, 0.1496591567993164, -1.3981611728668213], [16.488250732421875, 0.1496591567993164, -1.1481611728668213]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 635, "episode_id": "636", "scene_id": "sKLMLpTHeUy", "instruction": "Walk past the door and down the slightly jagged hallway, making a slight left turn and then continuing down the hallway before making a hard right and stopping once you've reached the room with the bed. ", "start_position": [5.7205400466918945, 0.1496591567993164, -1.944200038909912], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [16.545499801635742, 0.1496591567993164, -0.6673769950866699], "goal_radius": 3.0, "reference_path": "[[5.7205400466918945, 0.1496591567993164, -1.944200038909912], [7.394929885864258, 0.1496591567993164, -1.5713900327682495], [8.74114990234375, 0.1496591567993164, -1.8758900165557861], [11.85099983215332, 0.1496591567993164, -2.755959987640381], [14.141400337219238, 0.1496591567993164, -2.643120050430298], [16.461999893188477, 0.1496591567993164, -1.9354000091552734], [16.545499801635742, 0.1496591567993164, -0.6673769950866699]]", "geodesic_distance": 11.997434616088867, "gt_locations": "[[5.7205400466918945, 0.1496591567993164, -1.944200038909912], [5.962021350860596, 0.1496591567993164, -1.8794951438903809], [6.203502655029297, 0.1496591567993164, -1.8147902488708496], [6.444983959197998, 0.1496591567993164, -1.7500853538513184], [6.686465263366699, 0.1496591567993164, -1.685380458831787], [6.9279465675354, 0.1496591567993164, -1.6206755638122559], [7.1779465675354, 0.1496591567993164, -1.6206755638122559], [7.4279465675354, 0.1496591567993164, -1.6206755638122559], [7.669427871704102, 0.1496591567993164, -1.6853803396224976], [7.910909175872803, 0.1496591567993164, -1.7500851154327393], [8.152390480041504, 0.1496591567993164, -1.814789891242981], [8.393872261047363, 0.1496591567993164, -1.8794946670532227], [8.635354042053223, 0.1496591567993164, -1.9441994428634644], [8.876835823059082, 0.1496591567993164, -2.008904218673706], [9.118317604064941, 0.1496591567993164, -2.073608875274658], [9.3597993850708, 0.1496591567993164, -2.1383135318756104], [9.60128116607666, 0.1496591567993164, -2.2030181884765625], [9.84276294708252, 0.1496591567993164, -2.2677228450775146], [10.084244728088379, 0.1496591567993164, -2.332427501678467], [10.325726509094238, 0.1496591567993164, -2.397132158279419], [10.567208290100098, 0.1496591567993164, -2.461836814880371], [10.808690071105957, 0.1496591567993164, -2.5265414714813232], [11.050171852111816, 0.1496591567993164, -2.5912461280822754], [11.291653633117676, 0.1496591567993164, -2.6559507846832275], [11.533135414123535, 0.1496591567993164, -2.7206554412841797], [11.783135414123535, 0.1496591567993164, -2.7206554412841797], [12.033135414123535, 0.1496591567993164, -2.7206554412841797], [12.283135414123535, 0.1496591567993164, -2.7206554412841797], [12.533135414123535, 0.1496591567993164, -2.7206554412841797], [12.783135414123535, 0.1496591567993164, -2.7206554412841797], [13.033135414123535, 0.1496591567993164, -2.7206554412841797], [13.283135414123535, 0.1496591567993164, -2.7206554412841797], [13.533135414123535, 0.1496591567993164, -2.7206554412841797], [13.783135414123535, 0.1496591567993164, -2.7206554412841797], [14.024617195129395, 0.1496591567993164, -2.6559505462646484], [14.266098976135254, 0.1496591567993164, -2.591245651245117], [14.507580757141113, 0.1496591567993164, -2.526540756225586], [14.749062538146973, 0.1496591567993164, -2.4618358612060547], [14.990544319152832, 0.1496591567993164, -2.3971309661865234], [15.240544319152832, 0.1496591567993164, -2.3971309661865234], [15.490544319152832, 0.1496591567993164, -2.3971309661865234], [15.732026100158691, 0.1496591567993164, -2.332426071166992], [15.97350788116455, 0.1496591567993164, -2.267721176147461], [16.173545837402344, 0.1496591567993164, -2.072655439376831], [16.298545837402344, 0.1496591567993164, -1.8561490774154663], [16.423545837402344, 0.1496591567993164, -1.6396427154541016], [16.488250732421875, 0.1496591567993164, -1.3981611728668213], [16.488250732421875, 0.1496591567993164, -1.1481611728668213]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 636, "episode_id": "637", "scene_id": "sKLMLpTHeUy", "instruction": "With the stairs directly on your left, walk down the hallway.  When the hallway ends in an open door to a bedroom, turn right and enter the other bedroom with the blue blanket on the bed.  Stop near the lamp when you first enter the room. ", "start_position": [5.7205400466918945, 0.1496591567993164, -1.944200038909912], "start_rotation": [-0.0, 0.9659258262890682, 0.0, 0.25881904510252096], "goal_position": [16.545499801635742, 0.1496591567993164, -0.6673769950866699], "goal_radius": 3.0, "reference_path": "[[5.7205400466918945, 0.1496591567993164, -1.944200038909912], [7.394929885864258, 0.1496591567993164, -1.5713900327682495], [8.74114990234375, 0.1496591567993164, -1.8758900165557861], [11.85099983215332, 0.1496591567993164, -2.755959987640381], [14.141400337219238, 0.1496591567993164, -2.643120050430298], [16.461999893188477, 0.1496591567993164, -1.9354000091552734], [16.545499801635742, 0.1496591567993164, -0.6673769950866699]]", "geodesic_distance": 11.997434616088867, "gt_locations": "[[5.7205400466918945, 0.1496591567993164, -1.944200038909912], [5.962021350860596, 0.1496591567993164, -1.8794951438903809], [6.203502655029297, 0.1496591567993164, -1.8147902488708496], [6.444983959197998, 0.1496591567993164, -1.7500853538513184], [6.686465263366699, 0.1496591567993164, -1.685380458831787], [6.9279465675354, 0.1496591567993164, -1.6206755638122559], [7.1779465675354, 0.1496591567993164, -1.6206755638122559], [7.4279465675354, 0.1496591567993164, -1.6206755638122559], [7.669427871704102, 0.1496591567993164, -1.6853803396224976], [7.910909175872803, 0.1496591567993164, -1.7500851154327393], [8.152390480041504, 0.1496591567993164, -1.814789891242981], [8.393872261047363, 0.1496591567993164, -1.8794946670532227], [8.635354042053223, 0.1496591567993164, -1.9441994428634644], [8.876835823059082, 0.1496591567993164, -2.008904218673706], [9.118317604064941, 0.1496591567993164, -2.073608875274658], [9.3597993850708, 0.1496591567993164, -2.1383135318756104], [9.60128116607666, 0.1496591567993164, -2.2030181884765625], [9.84276294708252, 0.1496591567993164, -2.2677228450775146], [10.084244728088379, 0.1496591567993164, -2.332427501678467], [10.325726509094238, 0.1496591567993164, -2.397132158279419], [10.567208290100098, 0.1496591567993164, -2.461836814880371], [10.808690071105957, 0.1496591567993164, -2.5265414714813232], [11.050171852111816, 0.1496591567993164, -2.5912461280822754], [11.291653633117676, 0.1496591567993164, -2.6559507846832275], [11.533135414123535, 0.1496591567993164, -2.7206554412841797], [11.783135414123535, 0.1496591567993164, -2.7206554412841797], [12.033135414123535, 0.1496591567993164, -2.7206554412841797], [12.283135414123535, 0.1496591567993164, -2.7206554412841797], [12.533135414123535, 0.1496591567993164, -2.7206554412841797], [12.783135414123535, 0.1496591567993164, -2.7206554412841797], [13.033135414123535, 0.1496591567993164, -2.7206554412841797], [13.283135414123535, 0.1496591567993164, -2.7206554412841797], [13.533135414123535, 0.1496591567993164, -2.7206554412841797], [13.783135414123535, 0.1496591567993164, -2.7206554412841797], [14.024617195129395, 0.1496591567993164, -2.6559505462646484], [14.266098976135254, 0.1496591567993164, -2.591245651245117], [14.507580757141113, 0.1496591567993164, -2.526540756225586], [14.749062538146973, 0.1496591567993164, -2.4618358612060547], [14.990544319152832, 0.1496591567993164, -2.3971309661865234], [15.240544319152832, 0.1496591567993164, -2.3971309661865234], [15.490544319152832, 0.1496591567993164, -2.3971309661865234], [15.732026100158691, 0.1496591567993164, -2.332426071166992], [15.97350788116455, 0.1496591567993164, -2.267721176147461], [16.173545837402344, 0.1496591567993164, -2.072655439376831], [16.298545837402344, 0.1496591567993164, -1.8561490774154663], [16.423545837402344, 0.1496591567993164, -1.6396427154541016], [16.488250732421875, 0.1496591567993164, -1.3981611728668213], [16.488250732421875, 0.1496591567993164, -1.1481611728668213]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 637, "episode_id": "638", "scene_id": "r47D5H71a5s", "instruction": "Turn around and go passed the doorway on the right. Go to the second door and turn right then go all the way back to the bathroom. ", "start_position": [1.4701299667358398, 0.09863299131393433, -7.573540210723877], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.926379919052124, 0.09863299131393433, -2.176409959793091], "goal_radius": 3.0, "reference_path": "[[1.4701299667358398, 0.09863299131393433, -7.573540210723877], [1.6939400434494019, 0.09863299131393433, -6.452199935913086], [0.9797559976577759, 0.09863299131393433, -4.058070182800293], [0.09648550301790237, 0.09863299131393433, -3.930579900741577], [-2.9204399585723877, 0.09863299131393433, -2.0201900005340576], [-3.926379919052124, 0.09863299131393433, -2.176409959793091]]", "geodesic_distance": 8.800893783569336, "gt_locations": "[[1.4701299667358398, 0.09863299131393433, -7.573540210723877], [1.5348347425460815, 0.09863299131393433, -7.332058906555176], [1.5995395183563232, 0.09863299131393433, -7.090577602386475], [1.664244294166565, 0.09863299131393433, -6.849096298217773], [1.5995395183563232, 0.09863299131393433, -6.607614994049072], [1.5348347425460815, 0.09863299131393433, -6.366133689880371], [1.4701299667358398, 0.09863299131393433, -6.12465238571167], [1.4054251909255981, 0.09863299131393433, -5.883171081542969], [1.4054251909255981, 0.09863299131393433, -5.633171081542969], [1.3407204151153564, 0.09863299131393433, -5.391689777374268], [1.3407204151153564, 0.09863299131393433, -5.141689777374268], [1.2760156393051147, 0.09863299131393433, -4.900208473205566], [1.211310863494873, 0.09863299131393433, -4.658727169036865], [1.211310863494873, 0.09863299131393433, -4.408727169036865], [0.9791385531425476, 0.09863299131393433, -4.306785583496094], [0.7262471914291382, 0.09863299131393433, -4.257634162902832], [0.5097408294677734, 0.09863299131393433, -4.132634162902832], [0.2932344377040863, 0.09863299131393433, -4.007634162902832], [0.07672804594039917, 0.09863299131393433, -3.882634162902832], [-0.13977834582328796, 0.09863299131393433, -3.757634162902832], [-0.3562847375869751, 0.09863299131393433, -3.632634162902832], [-0.5727910995483398, 0.09863299131393433, -3.507634162902832], [-0.7892974615097046, 0.09863299131393433, -3.382634162902832], [-1.0058038234710693, 0.09863299131393433, -3.257634162902832], [-1.222310185432434, 0.09863299131393433, -3.132634162902832], [-1.4388165473937988, 0.09863299131393433, -3.007634162902832], [-1.6553229093551636, 0.09863299131393433, -2.882634162902832], [-1.8718292713165283, 0.09863299131393433, -2.757634162902832], [-2.0883357524871826, 0.09863299131393433, -2.632634162902832], [-2.304842233657837, 0.09863299131393433, -2.507634162902832], [-2.521348714828491, 0.09863299131393433, -2.382634162902832], [-2.6981253623962402, 0.09863299131393433, -2.205857515335083], [-2.9396069049835205, 0.09863299131393433, -2.1411526203155518], [-3.181088447570801, 0.09863299131393433, -2.0764477252960205], [-3.431088447570801, 0.09863299131393433, -2.0764477252960205], [-3.672569990158081, 0.09863299131393433, -2.1411523818969727]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 638, "episode_id": "639", "scene_id": "r47D5H71a5s", "instruction": "Walk forward, enter the last door on the right side, move toward the door on the right, enter the room an wait at the door. ", "start_position": [1.4701299667358398, 0.09863299131393433, -7.573540210723877], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.926379919052124, 0.09863299131393433, -2.176409959793091], "goal_radius": 3.0, "reference_path": "[[1.4701299667358398, 0.09863299131393433, -7.573540210723877], [1.6939400434494019, 0.09863299131393433, -6.452199935913086], [0.9797559976577759, 0.09863299131393433, -4.058070182800293], [0.09648550301790237, 0.09863299131393433, -3.930579900741577], [-2.9204399585723877, 0.09863299131393433, -2.0201900005340576], [-3.926379919052124, 0.09863299131393433, -2.176409959793091]]", "geodesic_distance": 8.800893783569336, "gt_locations": "[[1.4701299667358398, 0.09863299131393433, -7.573540210723877], [1.5348347425460815, 0.09863299131393433, -7.332058906555176], [1.5995395183563232, 0.09863299131393433, -7.090577602386475], [1.664244294166565, 0.09863299131393433, -6.849096298217773], [1.5995395183563232, 0.09863299131393433, -6.607614994049072], [1.5348347425460815, 0.09863299131393433, -6.366133689880371], [1.4701299667358398, 0.09863299131393433, -6.12465238571167], [1.4054251909255981, 0.09863299131393433, -5.883171081542969], [1.4054251909255981, 0.09863299131393433, -5.633171081542969], [1.3407204151153564, 0.09863299131393433, -5.391689777374268], [1.3407204151153564, 0.09863299131393433, -5.141689777374268], [1.2760156393051147, 0.09863299131393433, -4.900208473205566], [1.211310863494873, 0.09863299131393433, -4.658727169036865], [1.211310863494873, 0.09863299131393433, -4.408727169036865], [0.9791385531425476, 0.09863299131393433, -4.306785583496094], [0.7262471914291382, 0.09863299131393433, -4.257634162902832], [0.5097408294677734, 0.09863299131393433, -4.132634162902832], [0.2932344377040863, 0.09863299131393433, -4.007634162902832], [0.07672804594039917, 0.09863299131393433, -3.882634162902832], [-0.13977834582328796, 0.09863299131393433, -3.757634162902832], [-0.3562847375869751, 0.09863299131393433, -3.632634162902832], [-0.5727910995483398, 0.09863299131393433, -3.507634162902832], [-0.7892974615097046, 0.09863299131393433, -3.382634162902832], [-1.0058038234710693, 0.09863299131393433, -3.257634162902832], [-1.222310185432434, 0.09863299131393433, -3.132634162902832], [-1.4388165473937988, 0.09863299131393433, -3.007634162902832], [-1.6553229093551636, 0.09863299131393433, -2.882634162902832], [-1.8718292713165283, 0.09863299131393433, -2.757634162902832], [-2.0883357524871826, 0.09863299131393433, -2.632634162902832], [-2.304842233657837, 0.09863299131393433, -2.507634162902832], [-2.521348714828491, 0.09863299131393433, -2.382634162902832], [-2.6981253623962402, 0.09863299131393433, -2.205857515335083], [-2.9396069049835205, 0.09863299131393433, -2.1411526203155518], [-3.181088447570801, 0.09863299131393433, -2.0764477252960205], [-3.431088447570801, 0.09863299131393433, -2.0764477252960205], [-3.672569990158081, 0.09863299131393433, -2.1411523818969727]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 639, "episode_id": "640", "scene_id": "r47D5H71a5s", "instruction": "Exit the room then turn right on the second door. Go straight into the door in the middle and wait by the table. ", "start_position": [1.4701299667358398, 0.09863299131393433, -7.573540210723877], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [-3.926379919052124, 0.09863299131393433, -2.176409959793091], "goal_radius": 3.0, "reference_path": "[[1.4701299667358398, 0.09863299131393433, -7.573540210723877], [1.6939400434494019, 0.09863299131393433, -6.452199935913086], [0.9797559976577759, 0.09863299131393433, -4.058070182800293], [0.09648550301790237, 0.09863299131393433, -3.930579900741577], [-2.9204399585723877, 0.09863299131393433, -2.0201900005340576], [-3.926379919052124, 0.09863299131393433, -2.176409959793091]]", "geodesic_distance": 8.800893783569336, "gt_locations": "[[1.4701299667358398, 0.09863299131393433, -7.573540210723877], [1.5348347425460815, 0.09863299131393433, -7.332058906555176], [1.5995395183563232, 0.09863299131393433, -7.090577602386475], [1.664244294166565, 0.09863299131393433, -6.849096298217773], [1.5995395183563232, 0.09863299131393433, -6.607614994049072], [1.5348347425460815, 0.09863299131393433, -6.366133689880371], [1.4701299667358398, 0.09863299131393433, -6.12465238571167], [1.4054251909255981, 0.09863299131393433, -5.883171081542969], [1.4054251909255981, 0.09863299131393433, -5.633171081542969], [1.3407204151153564, 0.09863299131393433, -5.391689777374268], [1.3407204151153564, 0.09863299131393433, -5.141689777374268], [1.2760156393051147, 0.09863299131393433, -4.900208473205566], [1.211310863494873, 0.09863299131393433, -4.658727169036865], [1.211310863494873, 0.09863299131393433, -4.408727169036865], [0.9791385531425476, 0.09863299131393433, -4.306785583496094], [0.7262471914291382, 0.09863299131393433, -4.257634162902832], [0.5097408294677734, 0.09863299131393433, -4.132634162902832], [0.2932344377040863, 0.09863299131393433, -4.007634162902832], [0.07672804594039917, 0.09863299131393433, -3.882634162902832], [-0.13977834582328796, 0.09863299131393433, -3.757634162902832], [-0.3562847375869751, 0.09863299131393433, -3.632634162902832], [-0.5727910995483398, 0.09863299131393433, -3.507634162902832], [-0.7892974615097046, 0.09863299131393433, -3.382634162902832], [-1.0058038234710693, 0.09863299131393433, -3.257634162902832], [-1.222310185432434, 0.09863299131393433, -3.132634162902832], [-1.4388165473937988, 0.09863299131393433, -3.007634162902832], [-1.6553229093551636, 0.09863299131393433, -2.882634162902832], [-1.8718292713165283, 0.09863299131393433, -2.757634162902832], [-2.0883357524871826, 0.09863299131393433, -2.632634162902832], [-2.304842233657837, 0.09863299131393433, -2.507634162902832], [-2.521348714828491, 0.09863299131393433, -2.382634162902832], [-2.6981253623962402, 0.09863299131393433, -2.205857515335083], [-2.9396069049835205, 0.09863299131393433, -2.1411526203155518], [-3.181088447570801, 0.09863299131393433, -2.0764477252960205], [-3.431088447570801, 0.09863299131393433, -2.0764477252960205], [-3.672569990158081, 0.09863299131393433, -2.1411523818969727]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 3, 1, 3, 1, 0]"}
{"id": 640, "episode_id": "641", "scene_id": "kEZ7cmS4wCh", "instruction": "Go straight until you get to the kitchen then turn right. Go up the three steps on the right and into the room on the left. Wait near the first row of couches. ", "start_position": [-2.6571900844573975, -0.3136729598045349, -6.478859901428223], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-3.086469888687134, 0.08632707595825195, 4.5063300132751465], "goal_radius": 3.0, "reference_path": "[[-2.6571900844573975, -0.3136729598045349, -6.478859901428223], [-1.0156400203704834, -0.3136729598045349, -6.393519878387451], [-0.8904150128364563, -0.3136729598045349, -5.340879917144775], [-1.0216799974441528, -0.3136729598045349, -4.362539768218994], [-2.181410074234009, -0.038058795034885406, 0.3217200040817261], [-2.789599895477295, 0.08632707595825195, 3.5824201107025146], [-3.086469888687134, 0.08632707595825195, 4.5063300132751465]]", "geodesic_distance": 11.984151840209961, "gt_locations": "[[-2.6571900844573975, -0.3136729598045349, -6.478859901428223], [-2.4071900844573975, -0.3136729598045349, -6.478859901428223], [-2.1571900844573975, -0.3136729598045349, -6.478859901428223], [-1.9071900844573975, -0.3136729598045349, -6.478859901428223], [-1.6571900844573975, -0.3136729598045349, -6.478859901428223], [-1.4071900844573975, -0.3136729598045349, -6.478859901428223], [-1.2821900844573975, -0.3136729598045349, -6.262353420257568], [-1.1571900844573975, -0.3136729598045349, -6.045846939086914], [-1.0321900844573975, -0.3136729598045349, -5.82934045791626], [-0.9674853086471558, -0.3136729598045349, -5.587859153747559], [-0.9674853086471558, -0.3136729598045349, -5.337859153747559], [-0.9674853086471558, -0.3136729598045349, -5.087859153747559], [-0.9674853086471558, -0.3136729598045349, -4.837859153747559], [-1.0321900844573975, -0.3136729598045349, -4.596377849578857], [-1.0968948602676392, -0.3136729598045349, -4.354896545410156], [-1.1615996360778809, -0.3136729598045349, -4.113415241241455], [-1.2263044118881226, -0.3136729598045349, -3.871933698654175], [-1.2263044118881226, -0.3136729598045349, -3.621933698654175], [-1.2263044118881226, -0.3136729598045349, -3.371933698654175], [-1.2263044118881226, -0.3136729598045349, -3.121933698654175], [-1.2263044118881226, -0.3136729598045349, -2.871933698654175], [-1.2263044118881226, -0.3136729598045349, -2.621933698654175], [-1.2910091876983643, -0.1446828842163086, -2.3804521560668945], [-1.355713963508606, -0.1782921403646469, -2.1389706134796143], [-1.4204187393188477, -0.18055489659309387, -1.897489070892334], [-1.4851235151290894, -0.18281760811805725, -1.6560075283050537], [-1.549828290939331, -0.18508034944534302, -1.4145259857177734], [-1.6145330667495728, -0.16656199097633362, -1.1730444431304932], [-1.6792378425598145, -0.10642409324645996, -0.9315629601478577], [-1.7439426183700562, -0.09576207399368286, -0.6900814771652222], [-1.8086473941802979, -0.08509999513626099, -0.44859999418258667], [-1.9336473941802979, -0.07029400765895844, -0.23209360241889954], [-2.058647394180298, -0.055488020181655884, -0.015587210655212402], [-2.12335205078125, -0.04482598602771759, 0.22589421272277832], [-2.188056707382202, -0.0341639444231987, 0.46737563610076904], [-2.2527613639831543, -0.023501910269260406, 0.7088570594787598], [-2.3174660205841064, -0.012839876115322113, 0.9503384828567505], [-2.3821706771850586, -0.0021778419613838196, 1.1918199062347412], [-2.4468753337860107, 0.08632707595825195, 1.433301329612732], [-2.511579990386963, 0.08632707595825195, 1.6747827529907227], [-2.576284646987915, 0.08632707595825195, 1.9162641763687134], [-2.640989303588867, 0.08632707595825195, 2.157745599746704], [-2.7056939601898193, 0.08632707595825195, 2.3992271423339844], [-2.7056939601898193, 0.08632707595825195, 2.6492271423339844], [-2.7056939601898193, 0.08632707595825195, 2.8992271423339844], [-2.7056939601898193, 0.08632707595825195, 3.1492271423339844], [-2.7703986167907715, 0.08632707595825195, 3.3907086849212646], [-2.8351035118103027, 0.08632707595825195, 3.632190227508545], [-2.899808406829834, 0.08632707595825195, 3.873671770095825], [-2.9645133018493652, 0.08632707595825195, 4.1151533126831055]]", "gt_actions": "[1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 641, "episode_id": "642", "scene_id": "kEZ7cmS4wCh", "instruction": "Turn right and walk up the three stairs on the right. Enter the theater on the left and wait there. ", "start_position": [-2.6571900844573975, -0.3136729598045349, -6.478859901428223], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-3.086469888687134, 0.08632707595825195, 4.5063300132751465], "goal_radius": 3.0, "reference_path": "[[-2.6571900844573975, -0.3136729598045349, -6.478859901428223], [-1.0156400203704834, -0.3136729598045349, -6.393519878387451], [-0.8904150128364563, -0.3136729598045349, -5.340879917144775], [-1.0216799974441528, -0.3136729598045349, -4.362539768218994], [-2.181410074234009, -0.038058795034885406, 0.3217200040817261], [-2.789599895477295, 0.08632707595825195, 3.5824201107025146], [-3.086469888687134, 0.08632707595825195, 4.5063300132751465]]", "geodesic_distance": 11.984151840209961, "gt_locations": "[[-2.6571900844573975, -0.3136729598045349, -6.478859901428223], [-2.4071900844573975, -0.3136729598045349, -6.478859901428223], [-2.1571900844573975, -0.3136729598045349, -6.478859901428223], [-1.9071900844573975, -0.3136729598045349, -6.478859901428223], [-1.6571900844573975, -0.3136729598045349, -6.478859901428223], [-1.4071900844573975, -0.3136729598045349, -6.478859901428223], [-1.2821900844573975, -0.3136729598045349, -6.262353420257568], [-1.1571900844573975, -0.3136729598045349, -6.045846939086914], [-1.0321900844573975, -0.3136729598045349, -5.82934045791626], [-0.9674853086471558, -0.3136729598045349, -5.587859153747559], [-0.9674853086471558, -0.3136729598045349, -5.337859153747559], [-0.9674853086471558, -0.3136729598045349, -5.087859153747559], [-0.9674853086471558, -0.3136729598045349, -4.837859153747559], [-1.0321900844573975, -0.3136729598045349, -4.596377849578857], [-1.0968948602676392, -0.3136729598045349, -4.354896545410156], [-1.1615996360778809, -0.3136729598045349, -4.113415241241455], [-1.2263044118881226, -0.3136729598045349, -3.871933698654175], [-1.2263044118881226, -0.3136729598045349, -3.621933698654175], [-1.2263044118881226, -0.3136729598045349, -3.371933698654175], [-1.2263044118881226, -0.3136729598045349, -3.121933698654175], [-1.2263044118881226, -0.3136729598045349, -2.871933698654175], [-1.2263044118881226, -0.3136729598045349, -2.621933698654175], [-1.2910091876983643, -0.1446828842163086, -2.3804521560668945], [-1.355713963508606, -0.1782921403646469, -2.1389706134796143], [-1.4204187393188477, -0.18055489659309387, -1.897489070892334], [-1.4851235151290894, -0.18281760811805725, -1.6560075283050537], [-1.549828290939331, -0.18508034944534302, -1.4145259857177734], [-1.6145330667495728, -0.16656199097633362, -1.1730444431304932], [-1.6792378425598145, -0.10642409324645996, -0.9315629601478577], [-1.7439426183700562, -0.09576207399368286, -0.6900814771652222], [-1.8086473941802979, -0.08509999513626099, -0.44859999418258667], [-1.9336473941802979, -0.07029400765895844, -0.23209360241889954], [-2.058647394180298, -0.055488020181655884, -0.015587210655212402], [-2.12335205078125, -0.04482598602771759, 0.22589421272277832], [-2.188056707382202, -0.0341639444231987, 0.46737563610076904], [-2.2527613639831543, -0.023501910269260406, 0.7088570594787598], [-2.3174660205841064, -0.012839876115322113, 0.9503384828567505], [-2.3821706771850586, -0.0021778419613838196, 1.1918199062347412], [-2.4468753337860107, 0.08632707595825195, 1.433301329612732], [-2.511579990386963, 0.08632707595825195, 1.6747827529907227], [-2.576284646987915, 0.08632707595825195, 1.9162641763687134], [-2.640989303588867, 0.08632707595825195, 2.157745599746704], [-2.7056939601898193, 0.08632707595825195, 2.3992271423339844], [-2.7056939601898193, 0.08632707595825195, 2.6492271423339844], [-2.7056939601898193, 0.08632707595825195, 2.8992271423339844], [-2.7056939601898193, 0.08632707595825195, 3.1492271423339844], [-2.7703986167907715, 0.08632707595825195, 3.3907086849212646], [-2.8351035118103027, 0.08632707595825195, 3.632190227508545], [-2.899808406829834, 0.08632707595825195, 3.873671770095825], [-2.9645133018493652, 0.08632707595825195, 4.1151533126831055]]", "gt_actions": "[1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 642, "episode_id": "643", "scene_id": "kEZ7cmS4wCh", "instruction": "Enter the kitchen ahead of you and then immediately turn ninety degrees to the right. Continue forward until you can climb the three steps to your right, then veer left and continue parallel to the three steps to your left, entering the media room ahead. ", "start_position": [-2.6571900844573975, -0.3136729598045349, -6.478859901428223], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-3.086469888687134, 0.08632707595825195, 4.5063300132751465], "goal_radius": 3.0, "reference_path": "[[-2.6571900844573975, -0.3136729598045349, -6.478859901428223], [-1.0156400203704834, -0.3136729598045349, -6.393519878387451], [-0.8904150128364563, -0.3136729598045349, -5.340879917144775], [-1.0216799974441528, -0.3136729598045349, -4.362539768218994], [-2.181410074234009, -0.038058795034885406, 0.3217200040817261], [-2.789599895477295, 0.08632707595825195, 3.5824201107025146], [-3.086469888687134, 0.08632707595825195, 4.5063300132751465]]", "geodesic_distance": 11.984151840209961, "gt_locations": "[[-2.6571900844573975, -0.3136729598045349, -6.478859901428223], [-2.4071900844573975, -0.3136729598045349, -6.478859901428223], [-2.1571900844573975, -0.3136729598045349, -6.478859901428223], [-1.9071900844573975, -0.3136729598045349, -6.478859901428223], [-1.6571900844573975, -0.3136729598045349, -6.478859901428223], [-1.4071900844573975, -0.3136729598045349, -6.478859901428223], [-1.2821900844573975, -0.3136729598045349, -6.262353420257568], [-1.1571900844573975, -0.3136729598045349, -6.045846939086914], [-1.0321900844573975, -0.3136729598045349, -5.82934045791626], [-0.9674853086471558, -0.3136729598045349, -5.587859153747559], [-0.9674853086471558, -0.3136729598045349, -5.337859153747559], [-0.9674853086471558, -0.3136729598045349, -5.087859153747559], [-0.9674853086471558, -0.3136729598045349, -4.837859153747559], [-1.0321900844573975, -0.3136729598045349, -4.596377849578857], [-1.0968948602676392, -0.3136729598045349, -4.354896545410156], [-1.1615996360778809, -0.3136729598045349, -4.113415241241455], [-1.2263044118881226, -0.3136729598045349, -3.871933698654175], [-1.2263044118881226, -0.3136729598045349, -3.621933698654175], [-1.2263044118881226, -0.3136729598045349, -3.371933698654175], [-1.2263044118881226, -0.3136729598045349, -3.121933698654175], [-1.2263044118881226, -0.3136729598045349, -2.871933698654175], [-1.2263044118881226, -0.3136729598045349, -2.621933698654175], [-1.2910091876983643, -0.1446828842163086, -2.3804521560668945], [-1.355713963508606, -0.1782921403646469, -2.1389706134796143], [-1.4204187393188477, -0.18055489659309387, -1.897489070892334], [-1.4851235151290894, -0.18281760811805725, -1.6560075283050537], [-1.549828290939331, -0.18508034944534302, -1.4145259857177734], [-1.6145330667495728, -0.16656199097633362, -1.1730444431304932], [-1.6792378425598145, -0.10642409324645996, -0.9315629601478577], [-1.7439426183700562, -0.09576207399368286, -0.6900814771652222], [-1.8086473941802979, -0.08509999513626099, -0.44859999418258667], [-1.9336473941802979, -0.07029400765895844, -0.23209360241889954], [-2.058647394180298, -0.055488020181655884, -0.015587210655212402], [-2.12335205078125, -0.04482598602771759, 0.22589421272277832], [-2.188056707382202, -0.0341639444231987, 0.46737563610076904], [-2.2527613639831543, -0.023501910269260406, 0.7088570594787598], [-2.3174660205841064, -0.012839876115322113, 0.9503384828567505], [-2.3821706771850586, -0.0021778419613838196, 1.1918199062347412], [-2.4468753337860107, 0.08632707595825195, 1.433301329612732], [-2.511579990386963, 0.08632707595825195, 1.6747827529907227], [-2.576284646987915, 0.08632707595825195, 1.9162641763687134], [-2.640989303588867, 0.08632707595825195, 2.157745599746704], [-2.7056939601898193, 0.08632707595825195, 2.3992271423339844], [-2.7056939601898193, 0.08632707595825195, 2.6492271423339844], [-2.7056939601898193, 0.08632707595825195, 2.8992271423339844], [-2.7056939601898193, 0.08632707595825195, 3.1492271423339844], [-2.7703986167907715, 0.08632707595825195, 3.3907086849212646], [-2.8351035118103027, 0.08632707595825195, 3.632190227508545], [-2.899808406829834, 0.08632707595825195, 3.873671770095825], [-2.9645133018493652, 0.08632707595825195, 4.1151533126831055]]", "gt_actions": "[1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 3, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 643, "episode_id": "644", "scene_id": "VFuaQ6m2Qom", "instruction": "Walk clockwise around the bed.  After passing the fireplace, there are three doors.  Go through the door on the left with the circular tub in it and stop just after entering this room. ", "start_position": [-14.687299728393555, 4.499292850494385, -15.651100158691406], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-7.120719909667969, 4.45781946182251, -12.337499618530273], "goal_radius": 3.0, "reference_path": "[[-14.687299728393555, 4.499292850494385, -15.651100158691406], [-13.865300178527832, 4.502144813537598, -17.194499969482422], [-9.8571195602417, 4.469219207763672, -15.216899871826172], [-8.459150314331055, 4.45781946182251, -12.467300415039062], [-7.120719909667969, 4.45781946182251, -12.337499618530273]]", "geodesic_distance": 9.099674224853516, "gt_locations": "[[-14.687299728393555, 4.499292850494385, -15.651100158691406], [-14.562299728393555, 4.5372724533081055, -15.867606163024902], [-14.437299728393555, 4.532785892486572, -16.0841121673584], [-14.312299728393555, 4.534353733062744, -16.30061912536621], [-14.187299728393555, 4.535921096801758, -16.517126083374023], [-14.062299728393555, 4.5374884605407715, -16.733633041381836], [-13.937299728393555, 4.535583019256592, -16.95013999938965], [-13.695817947387695, 4.544205665588379, -16.885435104370117], [-13.454336166381836, 4.55019474029541, -16.820730209350586], [-13.212854385375977, 4.55594539642334, -16.756025314331055], [-12.971372604370117, 4.563342094421387, -16.691320419311523], [-12.729890823364258, 4.572585582733154, -16.626615524291992], [-12.488409042358398, 4.581829071044922, -16.56191062927246], [-12.246927261352539, 4.5910725593566895, -16.49720573425293], [-12.030421257019043, 4.608929634094238, -16.37220573425293], [-11.813915252685547, 4.626786708831787, -16.24720573425293], [-11.59740924835205, 4.644643783569336, -16.12220573425293], [-11.355927467346191, 4.6538872718811035, -16.0575008392334], [-11.139421463012695, 4.652960777282715, -15.932500839233398], [-10.9229154586792, 4.6215338706970215, -15.807500839233398], [-10.706409454345703, 4.590106964111328, -15.682500839233398], [-10.489903450012207, 4.558680534362793, -15.557500839233398], [-10.273397445678711, 4.5272536277771, -15.432500839233398], [-10.148397445678711, 4.495163440704346, -15.215994834899902], [-10.023397445678711, 4.46307373046875, -14.999488830566406], [-9.898397445678711, 4.45781946182251, -14.78298282623291], [-9.773397445678711, 4.45781946182251, -14.566476821899414], [-9.648397445678711, 4.45781946182251, -14.349970817565918], [-9.523397445678711, 4.45781946182251, -14.133464813232422], [-9.398397445678711, 4.45781946182251, -13.916958808898926], [-9.273397445678711, 4.45781946182251, -13.70045280456543], [-9.148397445678711, 4.45781946182251, -13.483946800231934], [-9.023397445678711, 4.45781946182251, -13.267440795898438], [-8.898397445678711, 4.45781946182251, -13.050934791564941], [-8.773397445678711, 4.45781946182251, -12.834428787231445], [-8.531915664672852, 4.45781946182251, -12.769723892211914], [-8.290433883666992, 4.45781946182251, -12.705018997192383], [-8.073927879333496, 4.45781946182251, -12.580018997192383], [-7.832446575164795, 4.45781946182251, -12.515314102172852], [-7.590965270996094, 4.45781946182251, -12.45060920715332]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 644, "episode_id": "645", "scene_id": "VFuaQ6m2Qom", "instruction": "Pass the bed then turn right. Walk toward the fireplace. when you get to the fireplace turn right. Turn left into the room and wait near the jacuzzi. ", "start_position": [-14.687299728393555, 4.499292850494385, -15.651100158691406], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-7.120719909667969, 4.45781946182251, -12.337499618530273], "goal_radius": 3.0, "reference_path": "[[-14.687299728393555, 4.499292850494385, -15.651100158691406], [-13.865300178527832, 4.502144813537598, -17.194499969482422], [-9.8571195602417, 4.469219207763672, -15.216899871826172], [-8.459150314331055, 4.45781946182251, -12.467300415039062], [-7.120719909667969, 4.45781946182251, -12.337499618530273]]", "geodesic_distance": 9.099674224853516, "gt_locations": "[[-14.687299728393555, 4.499292850494385, -15.651100158691406], [-14.562299728393555, 4.5372724533081055, -15.867606163024902], [-14.437299728393555, 4.532785892486572, -16.0841121673584], [-14.312299728393555, 4.534353733062744, -16.30061912536621], [-14.187299728393555, 4.535921096801758, -16.517126083374023], [-14.062299728393555, 4.5374884605407715, -16.733633041381836], [-13.937299728393555, 4.535583019256592, -16.95013999938965], [-13.695817947387695, 4.544205665588379, -16.885435104370117], [-13.454336166381836, 4.55019474029541, -16.820730209350586], [-13.212854385375977, 4.55594539642334, -16.756025314331055], [-12.971372604370117, 4.563342094421387, -16.691320419311523], [-12.729890823364258, 4.572585582733154, -16.626615524291992], [-12.488409042358398, 4.581829071044922, -16.56191062927246], [-12.246927261352539, 4.5910725593566895, -16.49720573425293], [-12.030421257019043, 4.608929634094238, -16.37220573425293], [-11.813915252685547, 4.626786708831787, -16.24720573425293], [-11.59740924835205, 4.644643783569336, -16.12220573425293], [-11.355927467346191, 4.6538872718811035, -16.0575008392334], [-11.139421463012695, 4.652960777282715, -15.932500839233398], [-10.9229154586792, 4.6215338706970215, -15.807500839233398], [-10.706409454345703, 4.590106964111328, -15.682500839233398], [-10.489903450012207, 4.558680534362793, -15.557500839233398], [-10.273397445678711, 4.5272536277771, -15.432500839233398], [-10.148397445678711, 4.495163440704346, -15.215994834899902], [-10.023397445678711, 4.46307373046875, -14.999488830566406], [-9.898397445678711, 4.45781946182251, -14.78298282623291], [-9.773397445678711, 4.45781946182251, -14.566476821899414], [-9.648397445678711, 4.45781946182251, -14.349970817565918], [-9.523397445678711, 4.45781946182251, -14.133464813232422], [-9.398397445678711, 4.45781946182251, -13.916958808898926], [-9.273397445678711, 4.45781946182251, -13.70045280456543], [-9.148397445678711, 4.45781946182251, -13.483946800231934], [-9.023397445678711, 4.45781946182251, -13.267440795898438], [-8.898397445678711, 4.45781946182251, -13.050934791564941], [-8.773397445678711, 4.45781946182251, -12.834428787231445], [-8.531915664672852, 4.45781946182251, -12.769723892211914], [-8.290433883666992, 4.45781946182251, -12.705018997192383], [-8.073927879333496, 4.45781946182251, -12.580018997192383], [-7.832446575164795, 4.45781946182251, -12.515314102172852], [-7.590965270996094, 4.45781946182251, -12.45060920715332]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 645, "episode_id": "646", "scene_id": "VFuaQ6m2Qom", "instruction": "Turn hard left to walk past the end of the bed, turn right at the fireplace and then exit the bedroom through the left doorway. Wait in the bathroom by the window. ", "start_position": [-14.687299728393555, 4.499292850494385, -15.651100158691406], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-7.120719909667969, 4.45781946182251, -12.337499618530273], "goal_radius": 3.0, "reference_path": "[[-14.687299728393555, 4.499292850494385, -15.651100158691406], [-13.865300178527832, 4.502144813537598, -17.194499969482422], [-9.8571195602417, 4.469219207763672, -15.216899871826172], [-8.459150314331055, 4.45781946182251, -12.467300415039062], [-7.120719909667969, 4.45781946182251, -12.337499618530273]]", "geodesic_distance": 9.099674224853516, "gt_locations": "[[-14.687299728393555, 4.499292850494385, -15.651100158691406], [-14.562299728393555, 4.5372724533081055, -15.867606163024902], [-14.437299728393555, 4.532785892486572, -16.0841121673584], [-14.312299728393555, 4.534353733062744, -16.30061912536621], [-14.187299728393555, 4.535921096801758, -16.517126083374023], [-14.062299728393555, 4.5374884605407715, -16.733633041381836], [-13.937299728393555, 4.535583019256592, -16.95013999938965], [-13.695817947387695, 4.544205665588379, -16.885435104370117], [-13.454336166381836, 4.55019474029541, -16.820730209350586], [-13.212854385375977, 4.55594539642334, -16.756025314331055], [-12.971372604370117, 4.563342094421387, -16.691320419311523], [-12.729890823364258, 4.572585582733154, -16.626615524291992], [-12.488409042358398, 4.581829071044922, -16.56191062927246], [-12.246927261352539, 4.5910725593566895, -16.49720573425293], [-12.030421257019043, 4.608929634094238, -16.37220573425293], [-11.813915252685547, 4.626786708831787, -16.24720573425293], [-11.59740924835205, 4.644643783569336, -16.12220573425293], [-11.355927467346191, 4.6538872718811035, -16.0575008392334], [-11.139421463012695, 4.652960777282715, -15.932500839233398], [-10.9229154586792, 4.6215338706970215, -15.807500839233398], [-10.706409454345703, 4.590106964111328, -15.682500839233398], [-10.489903450012207, 4.558680534362793, -15.557500839233398], [-10.273397445678711, 4.5272536277771, -15.432500839233398], [-10.148397445678711, 4.495163440704346, -15.215994834899902], [-10.023397445678711, 4.46307373046875, -14.999488830566406], [-9.898397445678711, 4.45781946182251, -14.78298282623291], [-9.773397445678711, 4.45781946182251, -14.566476821899414], [-9.648397445678711, 4.45781946182251, -14.349970817565918], [-9.523397445678711, 4.45781946182251, -14.133464813232422], [-9.398397445678711, 4.45781946182251, -13.916958808898926], [-9.273397445678711, 4.45781946182251, -13.70045280456543], [-9.148397445678711, 4.45781946182251, -13.483946800231934], [-9.023397445678711, 4.45781946182251, -13.267440795898438], [-8.898397445678711, 4.45781946182251, -13.050934791564941], [-8.773397445678711, 4.45781946182251, -12.834428787231445], [-8.531915664672852, 4.45781946182251, -12.769723892211914], [-8.290433883666992, 4.45781946182251, -12.705018997192383], [-8.073927879333496, 4.45781946182251, -12.580018997192383], [-7.832446575164795, 4.45781946182251, -12.515314102172852], [-7.590965270996094, 4.45781946182251, -12.45060920715332]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 1, 1, 0]"}
{"id": 646, "episode_id": "647", "scene_id": "sT4fr6TAbpF", "instruction": "Go forward passed the bed. In the hallway stop by the third door on the right. ", "start_position": [10.636199951171875, 0.05631500482559204, -20.795400619506836], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.507360458374023, 0.05631500482559204, -14.0556001663208], "goal_radius": 3.0, "reference_path": "[[10.636199951171875, 0.05631500482559204, -20.795400619506836], [9.695520401000977, 0.05631500482559204, -20.76180076599121], [8.534520149230957, 0.05631500482559204, -17.335399627685547], [8.485830307006836, 0.05631500482559204, -15.409500122070312], [8.507360458374023, 0.05631500482559204, -14.0556001663208]]", "geodesic_distance": 7.35685920715332, "gt_locations": "[[10.636199951171875, 0.05631500482559204, -20.795400619506836], [10.386199951171875, 0.05631500482559204, -20.795400619506836], [10.136199951171875, 0.05631500482559204, -20.795400619506836], [10.011199951171875, 0.05631500482559204, -20.578893661499023], [9.886199951171875, 0.05631500482559204, -20.36238670349121], [9.761199951171875, 0.05631500482559204, -20.1458797454834], [9.636199951171875, 0.05631500482559204, -19.929372787475586], [9.511199951171875, 0.05631500482559204, -19.712865829467773], [9.386199951171875, 0.05631500482559204, -19.49635887145996], [9.261199951171875, 0.05631500482559204, -19.27985191345215], [9.129875183105469, 0.05631500482559204, -19.063344955444336], [9.065170288085938, 0.05631500482559204, -18.821863174438477], [9.000465393066406, 0.05631500482559204, -18.580381393432617], [8.875465393066406, 0.05631500482559204, -18.363874435424805], [8.810760498046875, 0.05631500482559204, -18.122392654418945], [8.746055603027344, 0.05631500482559204, -17.880910873413086], [8.681350708007812, 0.05631500482559204, -17.639429092407227], [8.681350708007812, 0.05631500482559204, -17.389429092407227], [8.681350708007812, 0.05631500482559204, -17.139429092407227], [8.681350708007812, 0.05631500482559204, -16.889429092407227], [8.681350708007812, 0.05631500482559204, -16.639429092407227], [8.681350708007812, 0.05631500482559204, -16.389429092407227], [8.616645812988281, 0.05631500482559204, -16.147947311401367], [8.55194091796875, 0.05631500482559204, -15.906465530395508], [8.487236022949219, 0.05631500482559204, -15.664983749389648], [8.487236022949219, 0.05631500482559204, -15.414983749389648], [8.487236022949219, 0.05631500482559204, -15.164983749389648], [8.487236022949219, 0.05631500482559204, -14.914983749389648], [8.487236022949219, 0.05631500482559204, -14.664983749389648], [8.487236022949219, 0.05631500482559204, -14.414983749389648]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 647, "episode_id": "648", "scene_id": "sT4fr6TAbpF", "instruction": "Exit the room using the door on the left. Wait in the hallway. ", "start_position": [10.636199951171875, 0.05631500482559204, -20.795400619506836], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.507360458374023, 0.05631500482559204, -14.0556001663208], "goal_radius": 3.0, "reference_path": "[[10.636199951171875, 0.05631500482559204, -20.795400619506836], [9.695520401000977, 0.05631500482559204, -20.76180076599121], [8.534520149230957, 0.05631500482559204, -17.335399627685547], [8.485830307006836, 0.05631500482559204, -15.409500122070312], [8.507360458374023, 0.05631500482559204, -14.0556001663208]]", "geodesic_distance": 7.35685920715332, "gt_locations": "[[10.636199951171875, 0.05631500482559204, -20.795400619506836], [10.386199951171875, 0.05631500482559204, -20.795400619506836], [10.136199951171875, 0.05631500482559204, -20.795400619506836], [10.011199951171875, 0.05631500482559204, -20.578893661499023], [9.886199951171875, 0.05631500482559204, -20.36238670349121], [9.761199951171875, 0.05631500482559204, -20.1458797454834], [9.636199951171875, 0.05631500482559204, -19.929372787475586], [9.511199951171875, 0.05631500482559204, -19.712865829467773], [9.386199951171875, 0.05631500482559204, -19.49635887145996], [9.261199951171875, 0.05631500482559204, -19.27985191345215], [9.129875183105469, 0.05631500482559204, -19.063344955444336], [9.065170288085938, 0.05631500482559204, -18.821863174438477], [9.000465393066406, 0.05631500482559204, -18.580381393432617], [8.875465393066406, 0.05631500482559204, -18.363874435424805], [8.810760498046875, 0.05631500482559204, -18.122392654418945], [8.746055603027344, 0.05631500482559204, -17.880910873413086], [8.681350708007812, 0.05631500482559204, -17.639429092407227], [8.681350708007812, 0.05631500482559204, -17.389429092407227], [8.681350708007812, 0.05631500482559204, -17.139429092407227], [8.681350708007812, 0.05631500482559204, -16.889429092407227], [8.681350708007812, 0.05631500482559204, -16.639429092407227], [8.681350708007812, 0.05631500482559204, -16.389429092407227], [8.616645812988281, 0.05631500482559204, -16.147947311401367], [8.55194091796875, 0.05631500482559204, -15.906465530395508], [8.487236022949219, 0.05631500482559204, -15.664983749389648], [8.487236022949219, 0.05631500482559204, -15.414983749389648], [8.487236022949219, 0.05631500482559204, -15.164983749389648], [8.487236022949219, 0.05631500482559204, -14.914983749389648], [8.487236022949219, 0.05631500482559204, -14.664983749389648], [8.487236022949219, 0.05631500482559204, -14.414983749389648]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 648, "episode_id": "649", "scene_id": "sT4fr6TAbpF", "instruction": "Step forward, turn left, move pass the bed and through the door way. Wait at the door on the left. ", "start_position": [10.636199951171875, 0.05631500482559204, -20.795400619506836], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.507360458374023, 0.05631500482559204, -14.0556001663208], "goal_radius": 3.0, "reference_path": "[[10.636199951171875, 0.05631500482559204, -20.795400619506836], [9.695520401000977, 0.05631500482559204, -20.76180076599121], [8.534520149230957, 0.05631500482559204, -17.335399627685547], [8.485830307006836, 0.05631500482559204, -15.409500122070312], [8.507360458374023, 0.05631500482559204, -14.0556001663208]]", "geodesic_distance": 7.35685920715332, "gt_locations": "[[10.636199951171875, 0.05631500482559204, -20.795400619506836], [10.386199951171875, 0.05631500482559204, -20.795400619506836], [10.136199951171875, 0.05631500482559204, -20.795400619506836], [10.011199951171875, 0.05631500482559204, -20.578893661499023], [9.886199951171875, 0.05631500482559204, -20.36238670349121], [9.761199951171875, 0.05631500482559204, -20.1458797454834], [9.636199951171875, 0.05631500482559204, -19.929372787475586], [9.511199951171875, 0.05631500482559204, -19.712865829467773], [9.386199951171875, 0.05631500482559204, -19.49635887145996], [9.261199951171875, 0.05631500482559204, -19.27985191345215], [9.129875183105469, 0.05631500482559204, -19.063344955444336], [9.065170288085938, 0.05631500482559204, -18.821863174438477], [9.000465393066406, 0.05631500482559204, -18.580381393432617], [8.875465393066406, 0.05631500482559204, -18.363874435424805], [8.810760498046875, 0.05631500482559204, -18.122392654418945], [8.746055603027344, 0.05631500482559204, -17.880910873413086], [8.681350708007812, 0.05631500482559204, -17.639429092407227], [8.681350708007812, 0.05631500482559204, -17.389429092407227], [8.681350708007812, 0.05631500482559204, -17.139429092407227], [8.681350708007812, 0.05631500482559204, -16.889429092407227], [8.681350708007812, 0.05631500482559204, -16.639429092407227], [8.681350708007812, 0.05631500482559204, -16.389429092407227], [8.616645812988281, 0.05631500482559204, -16.147947311401367], [8.55194091796875, 0.05631500482559204, -15.906465530395508], [8.487236022949219, 0.05631500482559204, -15.664983749389648], [8.487236022949219, 0.05631500482559204, -15.414983749389648], [8.487236022949219, 0.05631500482559204, -15.164983749389648], [8.487236022949219, 0.05631500482559204, -14.914983749389648], [8.487236022949219, 0.05631500482559204, -14.664983749389648], [8.487236022949219, 0.05631500482559204, -14.414983749389648]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 0]"}
{"id": 649, "episode_id": "650", "scene_id": "kEZ7cmS4wCh", "instruction": "Go towards the pool and stay on the right of it, when you get near the last glass wall stop. ", "start_position": [6.103499889373779, -0.3136729598045349, -5.351079940795898], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [7.805749893188477, -0.3136729598045349, 2.4207699298858643], "goal_radius": 3.0, "reference_path": "[[6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.307559967041016, -0.3136729598045349, -3.5160601139068604], [6.514999866485596, -0.3136729598045349, -1.7559800148010254], [7.073400020599365, -0.3136729598045349, 0.3250339925289154], [7.805749893188477, -0.3136729598045349, 2.4207699298858643]]", "geodesic_distance": 7.956085681915283, "gt_locations": "[[6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.103499889373779, -0.3136729598045349, -5.101079940795898], [6.103499889373779, -0.3136729598045349, -4.851079940795898], [6.103499889373779, -0.3136729598045349, -4.601079940795898], [6.1682047843933105, -0.3136729598045349, -4.359598636627197], [6.232909679412842, -0.3136729598045349, -4.118117332458496], [6.297614574432373, -0.3136729598045349, -3.876635789871216], [6.362319469451904, -0.3136729598045349, -3.6351542472839355], [6.362319469451904, -0.3136729598045349, -3.3851542472839355], [6.362319469451904, -0.3136729598045349, -3.1351542472839355], [6.362319469451904, -0.3136729598045349, -2.8851542472839355], [6.362319469451904, -0.3136729598045349, -2.6351542472839355], [6.4270243644714355, -0.3136729598045349, -2.3936727046966553], [6.491729259490967, -0.3136729598045349, -2.152191162109375], [6.556434154510498, -0.3136729598045349, -1.9107096195220947], [6.621139049530029, -0.3136729598045349, -1.6692280769348145], [6.6858439445495605, -0.3136729598045349, -1.4277465343475342], [6.750548839569092, -0.3136729598045349, -1.186264991760254], [6.815253734588623, -0.3136729598045349, -0.9447835087776184], [6.879958629608154, -0.3136729598045349, -0.7033020257949829], [6.9446635246276855, -0.3136729598045349, -0.4618205428123474], [7.009368419647217, -0.3136729598045349, -0.22033905982971191], [7.074073314666748, -0.3136729598045349, 0.021142423152923584], [7.138778209686279, -0.3136729598045349, 0.2626239061355591], [7.2034831047058105, -0.3136729598045349, 0.5041053891181946], [7.268187999725342, -0.3136729598045349, 0.7455868721008301], [7.332892894744873, -0.39909473061561584, 0.9870683550834656], [7.397597789764404, -0.3996998071670532, 1.228549838066101], [7.4623026847839355, -0.38521870970726013, 1.4700312614440918], [7.527007579803467, -0.3136729598045349, 1.711512804031372], [7.591712474822998, -0.3136729598045349, 1.9529943466186523], [7.716712474822998, -0.3136729598045349, 2.1695008277893066]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 650, "episode_id": "651", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk straight toward the pool. Walk straight until you get to the steps to go into the pool. ", "start_position": [6.103499889373779, -0.3136729598045349, -5.351079940795898], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [7.805749893188477, -0.3136729598045349, 2.4207699298858643], "goal_radius": 3.0, "reference_path": "[[6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.307559967041016, -0.3136729598045349, -3.5160601139068604], [6.514999866485596, -0.3136729598045349, -1.7559800148010254], [7.073400020599365, -0.3136729598045349, 0.3250339925289154], [7.805749893188477, -0.3136729598045349, 2.4207699298858643]]", "geodesic_distance": 7.956085681915283, "gt_locations": "[[6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.103499889373779, -0.3136729598045349, -5.101079940795898], [6.103499889373779, -0.3136729598045349, -4.851079940795898], [6.103499889373779, -0.3136729598045349, -4.601079940795898], [6.1682047843933105, -0.3136729598045349, -4.359598636627197], [6.232909679412842, -0.3136729598045349, -4.118117332458496], [6.297614574432373, -0.3136729598045349, -3.876635789871216], [6.362319469451904, -0.3136729598045349, -3.6351542472839355], [6.362319469451904, -0.3136729598045349, -3.3851542472839355], [6.362319469451904, -0.3136729598045349, -3.1351542472839355], [6.362319469451904, -0.3136729598045349, -2.8851542472839355], [6.362319469451904, -0.3136729598045349, -2.6351542472839355], [6.4270243644714355, -0.3136729598045349, -2.3936727046966553], [6.491729259490967, -0.3136729598045349, -2.152191162109375], [6.556434154510498, -0.3136729598045349, -1.9107096195220947], [6.621139049530029, -0.3136729598045349, -1.6692280769348145], [6.6858439445495605, -0.3136729598045349, -1.4277465343475342], [6.750548839569092, -0.3136729598045349, -1.186264991760254], [6.815253734588623, -0.3136729598045349, -0.9447835087776184], [6.879958629608154, -0.3136729598045349, -0.7033020257949829], [6.9446635246276855, -0.3136729598045349, -0.4618205428123474], [7.009368419647217, -0.3136729598045349, -0.22033905982971191], [7.074073314666748, -0.3136729598045349, 0.021142423152923584], [7.138778209686279, -0.3136729598045349, 0.2626239061355591], [7.2034831047058105, -0.3136729598045349, 0.5041053891181946], [7.268187999725342, -0.3136729598045349, 0.7455868721008301], [7.332892894744873, -0.39909473061561584, 0.9870683550834656], [7.397597789764404, -0.3996998071670532, 1.228549838066101], [7.4623026847839355, -0.38521870970726013, 1.4700312614440918], [7.527007579803467, -0.3136729598045349, 1.711512804031372], [7.591712474822998, -0.3136729598045349, 1.9529943466186523], [7.716712474822998, -0.3136729598045349, 2.1695008277893066]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 651, "episode_id": "652", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk on the sidewalk towards the pool, and stop once you reach the first sidewalk on the left. ", "start_position": [6.103499889373779, -0.3136729598045349, -5.351079940795898], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [7.805749893188477, -0.3136729598045349, 2.4207699298858643], "goal_radius": 3.0, "reference_path": "[[6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.307559967041016, -0.3136729598045349, -3.5160601139068604], [6.514999866485596, -0.3136729598045349, -1.7559800148010254], [7.073400020599365, -0.3136729598045349, 0.3250339925289154], [7.805749893188477, -0.3136729598045349, 2.4207699298858643]]", "geodesic_distance": 7.956085681915283, "gt_locations": "[[6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.103499889373779, -0.3136729598045349, -5.101079940795898], [6.103499889373779, -0.3136729598045349, -4.851079940795898], [6.103499889373779, -0.3136729598045349, -4.601079940795898], [6.1682047843933105, -0.3136729598045349, -4.359598636627197], [6.232909679412842, -0.3136729598045349, -4.118117332458496], [6.297614574432373, -0.3136729598045349, -3.876635789871216], [6.362319469451904, -0.3136729598045349, -3.6351542472839355], [6.362319469451904, -0.3136729598045349, -3.3851542472839355], [6.362319469451904, -0.3136729598045349, -3.1351542472839355], [6.362319469451904, -0.3136729598045349, -2.8851542472839355], [6.362319469451904, -0.3136729598045349, -2.6351542472839355], [6.4270243644714355, -0.3136729598045349, -2.3936727046966553], [6.491729259490967, -0.3136729598045349, -2.152191162109375], [6.556434154510498, -0.3136729598045349, -1.9107096195220947], [6.621139049530029, -0.3136729598045349, -1.6692280769348145], [6.6858439445495605, -0.3136729598045349, -1.4277465343475342], [6.750548839569092, -0.3136729598045349, -1.186264991760254], [6.815253734588623, -0.3136729598045349, -0.9447835087776184], [6.879958629608154, -0.3136729598045349, -0.7033020257949829], [6.9446635246276855, -0.3136729598045349, -0.4618205428123474], [7.009368419647217, -0.3136729598045349, -0.22033905982971191], [7.074073314666748, -0.3136729598045349, 0.021142423152923584], [7.138778209686279, -0.3136729598045349, 0.2626239061355591], [7.2034831047058105, -0.3136729598045349, 0.5041053891181946], [7.268187999725342, -0.3136729598045349, 0.7455868721008301], [7.332892894744873, -0.39909473061561584, 0.9870683550834656], [7.397597789764404, -0.3996998071670532, 1.228549838066101], [7.4623026847839355, -0.38521870970726013, 1.4700312614440918], [7.527007579803467, -0.3136729598045349, 1.711512804031372], [7.591712474822998, -0.3136729598045349, 1.9529943466186523], [7.716712474822998, -0.3136729598045349, 2.1695008277893066]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 652, "episode_id": "653", "scene_id": "D7N2EKCX4Sj", "instruction": "Turn right and move forward to the table in front of the fireplace. Turn right again and move foward past the table. Next, turn left and move towards the fireplace. Move just past the right edge of the fireplace and stop in front of the double doors. ", "start_position": [-0.21759100258350372, -3.192077875137329, 4.175439834594727], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [4.439509868621826, -3.192077875137329, -1.085279941558838], "goal_radius": 3.0, "reference_path": "[[-0.21759100258350372, -3.192077875137329, 4.175439834594727], [0.48618799448013306, -3.192077875137329, 2.4842801094055176], [2.4037299156188965, -3.192077875137329, 2.0906600952148438], [3.4884400367736816, -3.192077875137329, -0.6479840278625488], [4.439509868621826, -3.192077875137329, -1.085279941558838]]", "geodesic_distance": 7.229666709899902, "gt_locations": "[[-0.21759100258350372, -3.192077875137329, 4.175439834594727], [-0.15288624167442322, -3.192077875137329, 3.9339582920074463], [-0.08818147331476212, -3.192077875137329, 3.692476749420166], [0.03681854158639908, -3.192077875137329, 3.475970506668091], [0.16181856393814087, -3.192077875137329, 3.2594642639160156], [0.28681856393814087, -3.192077875137329, 3.0429580211639404], [0.35152333974838257, -3.192077875137329, 2.80147647857666], [0.5930048227310181, -3.192077875137329, 2.736771821975708], [0.8344863057136536, -3.192077875137329, 2.672067165374756], [1.0509926080703735, -3.192077875137329, 2.547067165374756], [1.2674989700317383, -3.192077875137329, 2.422067165374756], [1.508980393409729, -3.192077875137329, 2.3573622703552246], [1.7504618167877197, -3.192077875137329, 2.2926573753356934], [1.9919432401657104, -3.192077875137329, 2.227952480316162], [2.056648015975952, -3.192077875137329, 1.9864710569381714], [2.1213526725769043, -3.192077875137329, 1.7449896335601807], [2.210073947906494, -3.192077875137329, 1.5005061626434326], [2.2747786045074463, -3.192077875137329, 1.259024739265442], [2.3394832611083984, -3.192077875137329, 1.0175433158874512], [2.405996799468994, -3.192077875137329, 0.7601529359817505], [2.4707014560699463, -3.192077875137329, 0.518671452999115], [2.5957014560699463, -3.192077875137329, 0.30216509103775024], [2.6604061126708984, -3.192077875137329, 0.06068362295627594], [2.8371827602386475, -3.192077875137329, -0.11609311401844025], [3.0139594078063965, -3.192077875137329, -0.2928698658943176], [3.1907360553741455, -3.192077875137329, -0.4696466028690338], [3.4072422981262207, -3.192077875137329, -0.5946466326713562], [3.623748540878296, -3.192077875137329, -0.719646692276001], [3.840254783630371, -3.192077875137329, -0.8446467518806458], [4.056761264801025, -3.192077875137329, -0.9696468114852905]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 653, "episode_id": "654", "scene_id": "D7N2EKCX4Sj", "instruction": "Look for the stuffed moose head above the fireplace and walk to the opening to the right of the fireplace with a stuffed deer head above it. Stop with the fireplace to your left and the deer head directly in front of you. ", "start_position": [-0.21759100258350372, -3.192077875137329, 4.175439834594727], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [4.439509868621826, -3.192077875137329, -1.085279941558838], "goal_radius": 3.0, "reference_path": "[[-0.21759100258350372, -3.192077875137329, 4.175439834594727], [0.48618799448013306, -3.192077875137329, 2.4842801094055176], [2.4037299156188965, -3.192077875137329, 2.0906600952148438], [3.4884400367736816, -3.192077875137329, -0.6479840278625488], [4.439509868621826, -3.192077875137329, -1.085279941558838]]", "geodesic_distance": 7.229666709899902, "gt_locations": "[[-0.21759100258350372, -3.192077875137329, 4.175439834594727], [-0.15288624167442322, -3.192077875137329, 3.9339582920074463], [-0.08818147331476212, -3.192077875137329, 3.692476749420166], [0.03681854158639908, -3.192077875137329, 3.475970506668091], [0.16181856393814087, -3.192077875137329, 3.2594642639160156], [0.28681856393814087, -3.192077875137329, 3.0429580211639404], [0.35152333974838257, -3.192077875137329, 2.80147647857666], [0.5930048227310181, -3.192077875137329, 2.736771821975708], [0.8344863057136536, -3.192077875137329, 2.672067165374756], [1.0509926080703735, -3.192077875137329, 2.547067165374756], [1.2674989700317383, -3.192077875137329, 2.422067165374756], [1.508980393409729, -3.192077875137329, 2.3573622703552246], [1.7504618167877197, -3.192077875137329, 2.2926573753356934], [1.9919432401657104, -3.192077875137329, 2.227952480316162], [2.056648015975952, -3.192077875137329, 1.9864710569381714], [2.1213526725769043, -3.192077875137329, 1.7449896335601807], [2.210073947906494, -3.192077875137329, 1.5005061626434326], [2.2747786045074463, -3.192077875137329, 1.259024739265442], [2.3394832611083984, -3.192077875137329, 1.0175433158874512], [2.405996799468994, -3.192077875137329, 0.7601529359817505], [2.4707014560699463, -3.192077875137329, 0.518671452999115], [2.5957014560699463, -3.192077875137329, 0.30216509103775024], [2.6604061126708984, -3.192077875137329, 0.06068362295627594], [2.8371827602386475, -3.192077875137329, -0.11609311401844025], [3.0139594078063965, -3.192077875137329, -0.2928698658943176], [3.1907360553741455, -3.192077875137329, -0.4696466028690338], [3.4072422981262207, -3.192077875137329, -0.5946466326713562], [3.623748540878296, -3.192077875137329, -0.719646692276001], [3.840254783630371, -3.192077875137329, -0.8446467518806458], [4.056761264801025, -3.192077875137329, -0.9696468114852905]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 654, "episode_id": "655", "scene_id": "D7N2EKCX4Sj", "instruction": "Wait by the fireplace in the dining area. ", "start_position": [-0.21759100258350372, -3.192077875137329, 4.175439834594727], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [4.439509868621826, -3.192077875137329, -1.085279941558838], "goal_radius": 3.0, "reference_path": "[[-0.21759100258350372, -3.192077875137329, 4.175439834594727], [0.48618799448013306, -3.192077875137329, 2.4842801094055176], [2.4037299156188965, -3.192077875137329, 2.0906600952148438], [3.4884400367736816, -3.192077875137329, -0.6479840278625488], [4.439509868621826, -3.192077875137329, -1.085279941558838]]", "geodesic_distance": 7.229666709899902, "gt_locations": "[[-0.21759100258350372, -3.192077875137329, 4.175439834594727], [-0.15288624167442322, -3.192077875137329, 3.9339582920074463], [-0.08818147331476212, -3.192077875137329, 3.692476749420166], [0.03681854158639908, -3.192077875137329, 3.475970506668091], [0.16181856393814087, -3.192077875137329, 3.2594642639160156], [0.28681856393814087, -3.192077875137329, 3.0429580211639404], [0.35152333974838257, -3.192077875137329, 2.80147647857666], [0.5930048227310181, -3.192077875137329, 2.736771821975708], [0.8344863057136536, -3.192077875137329, 2.672067165374756], [1.0509926080703735, -3.192077875137329, 2.547067165374756], [1.2674989700317383, -3.192077875137329, 2.422067165374756], [1.508980393409729, -3.192077875137329, 2.3573622703552246], [1.7504618167877197, -3.192077875137329, 2.2926573753356934], [1.9919432401657104, -3.192077875137329, 2.227952480316162], [2.056648015975952, -3.192077875137329, 1.9864710569381714], [2.1213526725769043, -3.192077875137329, 1.7449896335601807], [2.210073947906494, -3.192077875137329, 1.5005061626434326], [2.2747786045074463, -3.192077875137329, 1.259024739265442], [2.3394832611083984, -3.192077875137329, 1.0175433158874512], [2.405996799468994, -3.192077875137329, 0.7601529359817505], [2.4707014560699463, -3.192077875137329, 0.518671452999115], [2.5957014560699463, -3.192077875137329, 0.30216509103775024], [2.6604061126708984, -3.192077875137329, 0.06068362295627594], [2.8371827602386475, -3.192077875137329, -0.11609311401844025], [3.0139594078063965, -3.192077875137329, -0.2928698658943176], [3.1907360553741455, -3.192077875137329, -0.4696466028690338], [3.4072422981262207, -3.192077875137329, -0.5946466326713562], [3.623748540878296, -3.192077875137329, -0.719646692276001], [3.840254783630371, -3.192077875137329, -0.8446467518806458], [4.056761264801025, -3.192077875137329, -0.9696468114852905]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 2, 1, 3, 3, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 3, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 655, "episode_id": "656", "scene_id": "i5noydFURQK", "instruction": "Walk out of the closet and turn right. Turn left and walk into the hallway. Turn right into the bedroom doorway and stop. ", "start_position": [0.28368398547172546, 0.18682312965393066, 8.244500160217285], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.436880111694336, 0.18682312965393066, 4.293960094451904], "goal_radius": 3.0, "reference_path": "[[0.28368398547172546, 0.18682312965393066, 8.244500160217285], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [3.436880111694336, 0.18682312965393066, 4.293960094451904]]", "geodesic_distance": 5.255524635314941, "gt_locations": "[[0.28368398547172546, 0.18682312965393066, 8.244500160217285], [0.34838876128196716, 0.18682312965393066, 8.003018379211426], [0.41309353709220886, 0.18682312965393066, 7.761537075042725], [0.5898702144622803, 0.18682312965393066, 7.5847601890563965], [0.7666469216346741, 0.18682312965393066, 7.407983303070068], [1.0081284046173096, 0.18682312965393066, 7.343278408050537], [1.2496099472045898, 0.18682312965393066, 7.278573513031006], [1.4910914897918701, 0.18682312965393066, 7.213868618011475], [1.7325730323791504, 0.18682312965393066, 7.149163722991943], [1.9740545749664307, 0.18682312965393066, 7.084458827972412], [2.2240545749664307, 0.18682312965393066, 7.084458827972412], [2.288759231567383, 0.18682312965393066, 6.842977523803711], [2.353463888168335, 0.18682312965393066, 6.60149621963501], [2.418168544769287, 0.18682312965393066, 6.360014915466309], [2.4828732013702393, 0.18682312965393066, 6.118533611297607], [2.5475778579711914, 0.18682312965393066, 5.877052307128906], [2.5475778579711914, 0.18682312965393066, 5.627052307128906], [2.6725778579711914, 0.18682312965393066, 5.410545825958252], [2.7975778579711914, 0.18682312965393066, 5.194039344787598], [2.8622825145721436, 0.18682312965393066, 4.9525580406188965], [2.9872825145721436, 0.18682312965393066, 4.736051559448242], [3.190295934677124, 0.18682312965393066, 4.579568386077881]]", "gt_actions": "[3, 1, 1, 3, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 3, 3, 1, 0]"}
{"id": 656, "episode_id": "657", "scene_id": "i5noydFURQK", "instruction": "Go to the right and continue down the hallway. Turn left and then stop in the room with the green and white bed. ", "start_position": [0.28368398547172546, 0.18682312965393066, 8.244500160217285], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.436880111694336, 0.18682312965393066, 4.293960094451904], "goal_radius": 3.0, "reference_path": "[[0.28368398547172546, 0.18682312965393066, 8.244500160217285], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [3.436880111694336, 0.18682312965393066, 4.293960094451904]]", "geodesic_distance": 5.255524635314941, "gt_locations": "[[0.28368398547172546, 0.18682312965393066, 8.244500160217285], [0.34838876128196716, 0.18682312965393066, 8.003018379211426], [0.41309353709220886, 0.18682312965393066, 7.761537075042725], [0.5898702144622803, 0.18682312965393066, 7.5847601890563965], [0.7666469216346741, 0.18682312965393066, 7.407983303070068], [1.0081284046173096, 0.18682312965393066, 7.343278408050537], [1.2496099472045898, 0.18682312965393066, 7.278573513031006], [1.4910914897918701, 0.18682312965393066, 7.213868618011475], [1.7325730323791504, 0.18682312965393066, 7.149163722991943], [1.9740545749664307, 0.18682312965393066, 7.084458827972412], [2.2240545749664307, 0.18682312965393066, 7.084458827972412], [2.288759231567383, 0.18682312965393066, 6.842977523803711], [2.353463888168335, 0.18682312965393066, 6.60149621963501], [2.418168544769287, 0.18682312965393066, 6.360014915466309], [2.4828732013702393, 0.18682312965393066, 6.118533611297607], [2.5475778579711914, 0.18682312965393066, 5.877052307128906], [2.5475778579711914, 0.18682312965393066, 5.627052307128906], [2.6725778579711914, 0.18682312965393066, 5.410545825958252], [2.7975778579711914, 0.18682312965393066, 5.194039344787598], [2.8622825145721436, 0.18682312965393066, 4.9525580406188965], [2.9872825145721436, 0.18682312965393066, 4.736051559448242], [3.190295934677124, 0.18682312965393066, 4.579568386077881]]", "gt_actions": "[3, 1, 1, 3, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 3, 3, 1, 0]"}
{"id": 657, "episode_id": "658", "scene_id": "i5noydFURQK", "instruction": "Take a right as you walk through the doorway into the bedroom with the yellow picture on the wall. Walk down the hallway a couple of steps, and take your first left through the doorway. Walk into the room to the immediatly left the of the bathroom and stop. ", "start_position": [0.28368398547172546, 0.18682312965393066, 8.244500160217285], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [3.436880111694336, 0.18682312965393066, 4.293960094451904], "goal_radius": 3.0, "reference_path": "[[0.28368398547172546, 0.18682312965393066, 8.244500160217285], [1.1610300540924072, 0.18682312965393066, 7.102190017700195], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [3.436880111694336, 0.18682312965393066, 4.293960094451904]]", "geodesic_distance": 5.255524635314941, "gt_locations": "[[0.28368398547172546, 0.18682312965393066, 8.244500160217285], [0.34838876128196716, 0.18682312965393066, 8.003018379211426], [0.41309353709220886, 0.18682312965393066, 7.761537075042725], [0.5898702144622803, 0.18682312965393066, 7.5847601890563965], [0.7666469216346741, 0.18682312965393066, 7.407983303070068], [1.0081284046173096, 0.18682312965393066, 7.343278408050537], [1.2496099472045898, 0.18682312965393066, 7.278573513031006], [1.4910914897918701, 0.18682312965393066, 7.213868618011475], [1.7325730323791504, 0.18682312965393066, 7.149163722991943], [1.9740545749664307, 0.18682312965393066, 7.084458827972412], [2.2240545749664307, 0.18682312965393066, 7.084458827972412], [2.288759231567383, 0.18682312965393066, 6.842977523803711], [2.353463888168335, 0.18682312965393066, 6.60149621963501], [2.418168544769287, 0.18682312965393066, 6.360014915466309], [2.4828732013702393, 0.18682312965393066, 6.118533611297607], [2.5475778579711914, 0.18682312965393066, 5.877052307128906], [2.5475778579711914, 0.18682312965393066, 5.627052307128906], [2.6725778579711914, 0.18682312965393066, 5.410545825958252], [2.7975778579711914, 0.18682312965393066, 5.194039344787598], [2.8622825145721436, 0.18682312965393066, 4.9525580406188965], [2.9872825145721436, 0.18682312965393066, 4.736051559448242], [3.190295934677124, 0.18682312965393066, 4.579568386077881]]", "gt_actions": "[3, 1, 1, 3, 3, 1, 1, 3, 3, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 3, 3, 1, 0]"}
{"id": 658, "episode_id": "659", "scene_id": "ac26ZMwG7aT", "instruction": "Exit the room and go through the doorway on the left past the bookcases. Walk into the hall, past the bathroom. Keep going and go into the workout room. Go to the bathroom and stop in front of the toilet. ", "start_position": [12.837200164794922, 0.13922199606895447, -8.838459968566895], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [15.003299713134766, 0.13922199606895447, -6.5362701416015625], "goal_radius": 3.0, "reference_path": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [11.215100288391113, 0.13922199606895447, -5.128550052642822], [12.377900123596191, 0.13922199606895447, -5.10359001159668], [15.228899955749512, 0.13922199606895447, -5.373549938201904], [15.003299713134766, 0.13922199606895447, -6.5362701416015625]]", "geodesic_distance": 8.774721145629883, "gt_locations": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [12.620694160461426, 0.13922199606895447, -8.713459968566895], [12.40418815612793, 0.13922199606895447, -8.588459968566895], [12.187682151794434, 0.13922199606895447, -8.463459968566895], [11.971176147460938, 0.13922199606895447, -8.338459968566895], [11.729694366455078, 0.13922199606895447, -8.273755073547363], [11.488212585449219, 0.13922199606895447, -8.209050178527832], [11.271706581115723, 0.13922199606895447, -8.084050178527832], [11.207001686096191, 0.13922199606895447, -7.842568874359131], [11.207001686096191, 0.13922199606895447, -7.592568874359131], [11.207001686096191, 0.13922199606895447, -7.342568874359131], [11.14229679107666, 0.13922199606895447, -7.10108757019043], [11.134422302246094, 0.13922199606895447, -6.85108757019043], [11.134422302246094, 0.13922199606895447, -6.60108757019043], [11.134422302246094, 0.13922199606895447, -6.35108757019043], [11.134422302246094, 0.13922199606895447, -6.10108757019043], [11.134422302246094, 0.13922199606895447, -5.85108757019043], [11.134422302246094, 0.13922199606895447, -5.60108757019043], [11.35092830657959, 0.13922199606895447, -5.47608757019043], [11.59241008758545, 0.13922199606895447, -5.411382675170898], [11.833891868591309, 0.13922199606895447, -5.346677780151367], [12.050397872924805, 0.13922199606895447, -5.221677780151367], [12.300397872924805, 0.13922199606895447, -5.221677780151367], [12.550397872924805, 0.13922199606895447, -5.221677780151367], [12.800397872924805, 0.13922199606895447, -5.221677780151367], [13.050397872924805, 0.13922199606895447, -5.221677780151367], [13.300397872924805, 0.13922199606895447, -5.221677780151367], [13.550397872924805, 0.13922199606895447, -5.221677780151367], [13.800397872924805, 0.13922199606895447, -5.221677780151367], [14.050397872924805, 0.13922199606895447, -5.221677780151367], [14.300397872924805, 0.13922199606895447, -5.221677780151367], [14.550397872924805, 0.13922199606895447, -5.221677780151367], [14.800397872924805, 0.13922199606895447, -5.221677780151367], [14.865102767944336, 0.13922199606895447, -5.463159084320068], [14.929807662963867, 0.13922199606895447, -5.7046403884887695], [14.929807662963867, 0.13922199606895447, -5.9546403884887695], [14.929807662963867, 0.13922199606895447, -6.2046403884887695]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 659, "episode_id": "660", "scene_id": "ac26ZMwG7aT", "instruction": "Go through the door, turn left and go through the other door. Then turn left again, follow the hallway and continue down. Turn left one more time for the bathroom and stop. ", "start_position": [12.837200164794922, 0.13922199606895447, -8.838459968566895], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [15.003299713134766, 0.13922199606895447, -6.5362701416015625], "goal_radius": 3.0, "reference_path": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [11.215100288391113, 0.13922199606895447, -5.128550052642822], [12.377900123596191, 0.13922199606895447, -5.10359001159668], [15.228899955749512, 0.13922199606895447, -5.373549938201904], [15.003299713134766, 0.13922199606895447, -6.5362701416015625]]", "geodesic_distance": 8.774721145629883, "gt_locations": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [12.620694160461426, 0.13922199606895447, -8.713459968566895], [12.40418815612793, 0.13922199606895447, -8.588459968566895], [12.187682151794434, 0.13922199606895447, -8.463459968566895], [11.971176147460938, 0.13922199606895447, -8.338459968566895], [11.729694366455078, 0.13922199606895447, -8.273755073547363], [11.488212585449219, 0.13922199606895447, -8.209050178527832], [11.271706581115723, 0.13922199606895447, -8.084050178527832], [11.207001686096191, 0.13922199606895447, -7.842568874359131], [11.207001686096191, 0.13922199606895447, -7.592568874359131], [11.207001686096191, 0.13922199606895447, -7.342568874359131], [11.14229679107666, 0.13922199606895447, -7.10108757019043], [11.134422302246094, 0.13922199606895447, -6.85108757019043], [11.134422302246094, 0.13922199606895447, -6.60108757019043], [11.134422302246094, 0.13922199606895447, -6.35108757019043], [11.134422302246094, 0.13922199606895447, -6.10108757019043], [11.134422302246094, 0.13922199606895447, -5.85108757019043], [11.134422302246094, 0.13922199606895447, -5.60108757019043], [11.35092830657959, 0.13922199606895447, -5.47608757019043], [11.59241008758545, 0.13922199606895447, -5.411382675170898], [11.833891868591309, 0.13922199606895447, -5.346677780151367], [12.050397872924805, 0.13922199606895447, -5.221677780151367], [12.300397872924805, 0.13922199606895447, -5.221677780151367], [12.550397872924805, 0.13922199606895447, -5.221677780151367], [12.800397872924805, 0.13922199606895447, -5.221677780151367], [13.050397872924805, 0.13922199606895447, -5.221677780151367], [13.300397872924805, 0.13922199606895447, -5.221677780151367], [13.550397872924805, 0.13922199606895447, -5.221677780151367], [13.800397872924805, 0.13922199606895447, -5.221677780151367], [14.050397872924805, 0.13922199606895447, -5.221677780151367], [14.300397872924805, 0.13922199606895447, -5.221677780151367], [14.550397872924805, 0.13922199606895447, -5.221677780151367], [14.800397872924805, 0.13922199606895447, -5.221677780151367], [14.865102767944336, 0.13922199606895447, -5.463159084320068], [14.929807662963867, 0.13922199606895447, -5.7046403884887695], [14.929807662963867, 0.13922199606895447, -5.9546403884887695], [14.929807662963867, 0.13922199606895447, -6.2046403884887695]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 660, "episode_id": "661", "scene_id": "ac26ZMwG7aT", "instruction": "Walk into the office and turn left. Walk into the bedroom and turn left. Walk down the hall and turn left. Walk into the bathroom and stop. ", "start_position": [12.837200164794922, 0.13922199606895447, -8.838459968566895], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [15.003299713134766, 0.13922199606895447, -6.5362701416015625], "goal_radius": 3.0, "reference_path": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [11.215100288391113, 0.13922199606895447, -5.128550052642822], [12.377900123596191, 0.13922199606895447, -5.10359001159668], [15.228899955749512, 0.13922199606895447, -5.373549938201904], [15.003299713134766, 0.13922199606895447, -6.5362701416015625]]", "geodesic_distance": 8.774721145629883, "gt_locations": "[[12.837200164794922, 0.13922199606895447, -8.838459968566895], [12.620694160461426, 0.13922199606895447, -8.713459968566895], [12.40418815612793, 0.13922199606895447, -8.588459968566895], [12.187682151794434, 0.13922199606895447, -8.463459968566895], [11.971176147460938, 0.13922199606895447, -8.338459968566895], [11.729694366455078, 0.13922199606895447, -8.273755073547363], [11.488212585449219, 0.13922199606895447, -8.209050178527832], [11.271706581115723, 0.13922199606895447, -8.084050178527832], [11.207001686096191, 0.13922199606895447, -7.842568874359131], [11.207001686096191, 0.13922199606895447, -7.592568874359131], [11.207001686096191, 0.13922199606895447, -7.342568874359131], [11.14229679107666, 0.13922199606895447, -7.10108757019043], [11.134422302246094, 0.13922199606895447, -6.85108757019043], [11.134422302246094, 0.13922199606895447, -6.60108757019043], [11.134422302246094, 0.13922199606895447, -6.35108757019043], [11.134422302246094, 0.13922199606895447, -6.10108757019043], [11.134422302246094, 0.13922199606895447, -5.85108757019043], [11.134422302246094, 0.13922199606895447, -5.60108757019043], [11.35092830657959, 0.13922199606895447, -5.47608757019043], [11.59241008758545, 0.13922199606895447, -5.411382675170898], [11.833891868591309, 0.13922199606895447, -5.346677780151367], [12.050397872924805, 0.13922199606895447, -5.221677780151367], [12.300397872924805, 0.13922199606895447, -5.221677780151367], [12.550397872924805, 0.13922199606895447, -5.221677780151367], [12.800397872924805, 0.13922199606895447, -5.221677780151367], [13.050397872924805, 0.13922199606895447, -5.221677780151367], [13.300397872924805, 0.13922199606895447, -5.221677780151367], [13.550397872924805, 0.13922199606895447, -5.221677780151367], [13.800397872924805, 0.13922199606895447, -5.221677780151367], [14.050397872924805, 0.13922199606895447, -5.221677780151367], [14.300397872924805, 0.13922199606895447, -5.221677780151367], [14.550397872924805, 0.13922199606895447, -5.221677780151367], [14.800397872924805, 0.13922199606895447, -5.221677780151367], [14.865102767944336, 0.13922199606895447, -5.463159084320068], [14.929807662963867, 0.13922199606895447, -5.7046403884887695], [14.929807662963867, 0.13922199606895447, -5.9546403884887695], [14.929807662963867, 0.13922199606895447, -6.2046403884887695]]", "gt_actions": "[2, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 2, 2, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 0]"}
{"id": 661, "episode_id": "662", "scene_id": "pRbA3pwrgk9", "instruction": "Turn left and go up the stairs. Go through the doorway on the right. Stop in front of the bed. ", "start_position": [-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.453739881515503, 0.033804893493652344, -2.745850086212158], "goal_radius": 3.0, "reference_path": "[[-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [0.28376999497413635, -0.7661948204040527, 2.8154399394989014], [0.25931400060653687, -0.2052568942308426, 1.724310040473938], [0.1707109957933426, 0.033804893493652344, 0.3804300129413605], [0.11164499819278717, 0.033804893493652344, -0.42620399594306946], [0.9954839944839478, 0.033804893493652344, -2.5831000804901123], [2.453739881515503, 0.033804893493652344, -2.745850086212158]]", "geodesic_distance": 8.234903335571289, "gt_locations": "[[-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [-0.9301132559776306, -0.7661948204040527, 3.634233236312866], [-0.7136068940162659, -0.7661948204040527, 3.509233236312866], [-0.4971005320549011, -0.7661948204040527, 3.384233236312866], [-0.2805941700935364, -0.7661948204040527, 3.259233236312866], [-0.06408780813217163, -0.7661948204040527, 3.134233236312866], [0.0006169453263282776, -0.7661948204040527, 2.892751693725586], [0.06532169878482819, -0.7466331720352173, 2.6512701511383057], [0.1300264596939087, -0.6233768463134766, 2.4097886085510254], [0.194731205701828, -0.4616347551345825, 2.168307065963745], [0.2594359517097473, -0.299892783164978, 1.9268256425857544], [0.2594359517097473, -0.22601765394210815, 1.6768256425857544], [0.2594359517097473, -0.2547675371170044, 1.4268256425857544], [0.2594359517097473, -0.16266228258609772, 1.1768256425857544], [0.2594359517097473, -0.07055700570344925, 0.9268256425857544], [0.2594359517097473, 0.021548248827457428, 0.6768256425857544], [0.2594359517097473, 0.033804893493652344, 0.4268256425857544], [0.19473117589950562, 0.033804893493652344, 0.18534418940544128], [0.13002640008926392, 0.033804893493652344, -0.056137263774871826], [0.19473114609718323, 0.033804893493652344, -0.29761871695518494], [0.25943589210510254, 0.033804893493652344, -0.539100170135498], [0.25943589210510254, 0.033804893493652344, -0.789100170135498], [0.32414063811302185, 0.033804893493652344, -1.0305815935134888], [0.38884538412094116, 0.033804893493652344, -1.2720630168914795], [0.5362810492515564, 0.033804893493652344, -1.4879610538482666], [0.6612810492515564, 0.04120577126741409, -1.7044674158096313], [0.7259857654571533, 0.05170035362243652, -1.945948839187622], [0.790690541267395, 0.053337931632995605, -2.1874303817749023], [1.0321719646453857, 0.033804893493652344, -2.2521350383758545], [1.2486783266067505, 0.033804893493652344, -2.3771350383758545], [1.4901597499847412, 0.033804893493652344, -2.4418399333953857], [1.706666111946106, 0.033804893493652344, -2.5668399333953857], [1.9481475353240967, 0.033804893493652344, -2.631544828414917], [2.189629077911377, 0.033804893493652344, -2.6962497234344482]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 3, 3, 1, 2, 1, 2, 1, 1, 3, 3, 3, 3, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 0]"}
{"id": 662, "episode_id": "663", "scene_id": "pRbA3pwrgk9", "instruction": "Exit the bedroom through the double doors to the right of the walk in closet and climb the short flight of five steps. Veer right at the top of the stairs ahead that leads downward and enter the bedroom with the door marked with the crossed warning tape labeled \"DANGER - PELIGRO\". Stopping at the foot of the bed. ", "start_position": [-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.453739881515503, 0.033804893493652344, -2.745850086212158], "goal_radius": 3.0, "reference_path": "[[-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [0.28376999497413635, -0.7661948204040527, 2.8154399394989014], [0.25931400060653687, -0.2052568942308426, 1.724310040473938], [0.1707109957933426, 0.033804893493652344, 0.3804300129413605], [0.11164499819278717, 0.033804893493652344, -0.42620399594306946], [0.9954839944839478, 0.033804893493652344, -2.5831000804901123], [2.453739881515503, 0.033804893493652344, -2.745850086212158]]", "geodesic_distance": 8.234903335571289, "gt_locations": "[[-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [-0.9301132559776306, -0.7661948204040527, 3.634233236312866], [-0.7136068940162659, -0.7661948204040527, 3.509233236312866], [-0.4971005320549011, -0.7661948204040527, 3.384233236312866], [-0.2805941700935364, -0.7661948204040527, 3.259233236312866], [-0.06408780813217163, -0.7661948204040527, 3.134233236312866], [0.0006169453263282776, -0.7661948204040527, 2.892751693725586], [0.06532169878482819, -0.7466331720352173, 2.6512701511383057], [0.1300264596939087, -0.6233768463134766, 2.4097886085510254], [0.194731205701828, -0.4616347551345825, 2.168307065963745], [0.2594359517097473, -0.299892783164978, 1.9268256425857544], [0.2594359517097473, -0.22601765394210815, 1.6768256425857544], [0.2594359517097473, -0.2547675371170044, 1.4268256425857544], [0.2594359517097473, -0.16266228258609772, 1.1768256425857544], [0.2594359517097473, -0.07055700570344925, 0.9268256425857544], [0.2594359517097473, 0.021548248827457428, 0.6768256425857544], [0.2594359517097473, 0.033804893493652344, 0.4268256425857544], [0.19473117589950562, 0.033804893493652344, 0.18534418940544128], [0.13002640008926392, 0.033804893493652344, -0.056137263774871826], [0.19473114609718323, 0.033804893493652344, -0.29761871695518494], [0.25943589210510254, 0.033804893493652344, -0.539100170135498], [0.25943589210510254, 0.033804893493652344, -0.789100170135498], [0.32414063811302185, 0.033804893493652344, -1.0305815935134888], [0.38884538412094116, 0.033804893493652344, -1.2720630168914795], [0.5362810492515564, 0.033804893493652344, -1.4879610538482666], [0.6612810492515564, 0.04120577126741409, -1.7044674158096313], [0.7259857654571533, 0.05170035362243652, -1.945948839187622], [0.790690541267395, 0.053337931632995605, -2.1874303817749023], [1.0321719646453857, 0.033804893493652344, -2.2521350383758545], [1.2486783266067505, 0.033804893493652344, -2.3771350383758545], [1.4901597499847412, 0.033804893493652344, -2.4418399333953857], [1.706666111946106, 0.033804893493652344, -2.5668399333953857], [1.9481475353240967, 0.033804893493652344, -2.631544828414917], [2.189629077911377, 0.033804893493652344, -2.6962497234344482]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 3, 3, 1, 2, 1, 2, 1, 1, 3, 3, 3, 3, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 0]"}
{"id": 663, "episode_id": "664", "scene_id": "pRbA3pwrgk9", "instruction": "Turn left at the stairs. Walk up the stairs and walk right past the stairs. Stop in front of the bed. ", "start_position": [-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [2.453739881515503, 0.033804893493652344, -2.745850086212158], "goal_radius": 3.0, "reference_path": "[[-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [0.28376999497413635, -0.7661948204040527, 2.8154399394989014], [0.25931400060653687, -0.2052568942308426, 1.724310040473938], [0.1707109957933426, 0.033804893493652344, 0.3804300129413605], [0.11164499819278717, 0.033804893493652344, -0.42620399594306946], [0.9954839944839478, 0.033804893493652344, -2.5831000804901123], [2.453739881515503, 0.033804893493652344, -2.745850086212158]]", "geodesic_distance": 8.234903335571289, "gt_locations": "[[-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [-0.9301132559776306, -0.7661948204040527, 3.634233236312866], [-0.7136068940162659, -0.7661948204040527, 3.509233236312866], [-0.4971005320549011, -0.7661948204040527, 3.384233236312866], [-0.2805941700935364, -0.7661948204040527, 3.259233236312866], [-0.06408780813217163, -0.7661948204040527, 3.134233236312866], [0.0006169453263282776, -0.7661948204040527, 2.892751693725586], [0.06532169878482819, -0.7466331720352173, 2.6512701511383057], [0.1300264596939087, -0.6233768463134766, 2.4097886085510254], [0.194731205701828, -0.4616347551345825, 2.168307065963745], [0.2594359517097473, -0.299892783164978, 1.9268256425857544], [0.2594359517097473, -0.22601765394210815, 1.6768256425857544], [0.2594359517097473, -0.2547675371170044, 1.4268256425857544], [0.2594359517097473, -0.16266228258609772, 1.1768256425857544], [0.2594359517097473, -0.07055700570344925, 0.9268256425857544], [0.2594359517097473, 0.021548248827457428, 0.6768256425857544], [0.2594359517097473, 0.033804893493652344, 0.4268256425857544], [0.19473117589950562, 0.033804893493652344, 0.18534418940544128], [0.13002640008926392, 0.033804893493652344, -0.056137263774871826], [0.19473114609718323, 0.033804893493652344, -0.29761871695518494], [0.25943589210510254, 0.033804893493652344, -0.539100170135498], [0.25943589210510254, 0.033804893493652344, -0.789100170135498], [0.32414063811302185, 0.033804893493652344, -1.0305815935134888], [0.38884538412094116, 0.033804893493652344, -1.2720630168914795], [0.5362810492515564, 0.033804893493652344, -1.4879610538482666], [0.6612810492515564, 0.04120577126741409, -1.7044674158096313], [0.7259857654571533, 0.05170035362243652, -1.945948839187622], [0.790690541267395, 0.053337931632995605, -2.1874303817749023], [1.0321719646453857, 0.033804893493652344, -2.2521350383758545], [1.2486783266067505, 0.033804893493652344, -2.3771350383758545], [1.4901597499847412, 0.033804893493652344, -2.4418399333953857], [1.706666111946106, 0.033804893493652344, -2.5668399333953857], [1.9481475353240967, 0.033804893493652344, -2.631544828414917], [2.189629077911377, 0.033804893493652344, -2.6962497234344482]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 2, 1, 3, 1, 1, 3, 3, 1, 2, 1, 2, 1, 1, 3, 3, 3, 3, 1, 2, 1, 3, 1, 2, 1, 3, 1, 1, 0]"}
{"id": 664, "episode_id": "665", "scene_id": "ULsKaCPVFJR", "instruction": "Start down the corridor going straight in the direction of the wooden floor grain. After you pass a kitchen on your left, look directly ahead. There will be a square opening directly ahead, and a doorway leading into a half bath. Go to the doorway for the half bath. ", "start_position": [-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "goal_radius": 3.0, "reference_path": "[[-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], [1.6087199449539185, 0.08356200158596039, 1.7026499509811401], [2.509310007095337, 0.08356200158596039, 2.6357200145721436], [3.302730083465576, 0.08356200158596039, 3.4445199966430664], [3.4707400798797607, 0.08356200158596039, 5.586850166320801]]", "geodesic_distance": 6.795109748840332, "gt_locations": "[[-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], [0.1575150191783905, 0.08356200158596039, 0.07265876978635788], [0.3342917561531067, 0.08356200158596039, 0.24943554401397705], [0.5110684633255005, 0.08356200158596039, 0.4262123107910156], [0.6878451704978943, 0.08356200158596039, 0.6029890775680542], [0.8646218776702881, 0.08356200158596039, 0.7797658443450928], [1.0413986444473267, 0.08356200158596039, 0.9565426111221313], [1.2181754112243652, 0.08356200158596039, 1.13331937789917], [1.3431754112243652, 0.08356200158596039, 1.3498257398605347], [1.5199520587921143, 0.08356200158596039, 1.5266025066375732], [1.6967287063598633, 0.08356200158596039, 1.7033792734146118], [1.8735053539276123, 0.08356200158596039, 1.8801560401916504], [2.0502820014953613, 0.08356200158596039, 2.0569329261779785], [2.2270586490631104, 0.08356200158596039, 2.2337098121643066], [2.4038352966308594, 0.08356200158596039, 2.4104866981506348], [2.5806119441986084, 0.08356200158596039, 2.587263584136963], [2.7573885917663574, 0.08356200158596039, 2.764040470123291], [2.9341652393341064, 0.08356200158596039, 2.940817356109619], [3.1109418869018555, 0.08356200158596039, 3.1175942420959473], [3.1756465435028076, 0.08356200158596039, 3.3590757846832275], [3.2403512001037598, 0.08356200158596039, 3.600557327270508], [3.305055856704712, 0.08356200158596039, 3.842038869857788], [3.369760513305664, 0.08356200158596039, 4.083520412445068], [3.369760513305664, 0.08356200158596039, 4.333520412445068], [3.369760513305664, 0.08356200158596039, 4.583520412445068], [3.369760513305664, 0.08356200158596039, 4.833520412445068], [3.369760513305664, 0.08356200158596039, 5.083520412445068], [3.434465169906616, 0.08356200158596039, 5.3250017166137695]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 665, "episode_id": "666", "scene_id": "ULsKaCPVFJR", "instruction": "Walk past the mirror on your right, and continue to walk down the hallway. Walk into the room directly right of the doorway in front of you, and stop once you walk in. ", "start_position": [-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "goal_radius": 3.0, "reference_path": "[[-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], [1.6087199449539185, 0.08356200158596039, 1.7026499509811401], [2.509310007095337, 0.08356200158596039, 2.6357200145721436], [3.302730083465576, 0.08356200158596039, 3.4445199966430664], [3.4707400798797607, 0.08356200158596039, 5.586850166320801]]", "geodesic_distance": 6.795109748840332, "gt_locations": "[[-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], [0.1575150191783905, 0.08356200158596039, 0.07265876978635788], [0.3342917561531067, 0.08356200158596039, 0.24943554401397705], [0.5110684633255005, 0.08356200158596039, 0.4262123107910156], [0.6878451704978943, 0.08356200158596039, 0.6029890775680542], [0.8646218776702881, 0.08356200158596039, 0.7797658443450928], [1.0413986444473267, 0.08356200158596039, 0.9565426111221313], [1.2181754112243652, 0.08356200158596039, 1.13331937789917], [1.3431754112243652, 0.08356200158596039, 1.3498257398605347], [1.5199520587921143, 0.08356200158596039, 1.5266025066375732], [1.6967287063598633, 0.08356200158596039, 1.7033792734146118], [1.8735053539276123, 0.08356200158596039, 1.8801560401916504], [2.0502820014953613, 0.08356200158596039, 2.0569329261779785], [2.2270586490631104, 0.08356200158596039, 2.2337098121643066], [2.4038352966308594, 0.08356200158596039, 2.4104866981506348], [2.5806119441986084, 0.08356200158596039, 2.587263584136963], [2.7573885917663574, 0.08356200158596039, 2.764040470123291], [2.9341652393341064, 0.08356200158596039, 2.940817356109619], [3.1109418869018555, 0.08356200158596039, 3.1175942420959473], [3.1756465435028076, 0.08356200158596039, 3.3590757846832275], [3.2403512001037598, 0.08356200158596039, 3.600557327270508], [3.305055856704712, 0.08356200158596039, 3.842038869857788], [3.369760513305664, 0.08356200158596039, 4.083520412445068], [3.369760513305664, 0.08356200158596039, 4.333520412445068], [3.369760513305664, 0.08356200158596039, 4.583520412445068], [3.369760513305664, 0.08356200158596039, 4.833520412445068], [3.369760513305664, 0.08356200158596039, 5.083520412445068], [3.434465169906616, 0.08356200158596039, 5.3250017166137695]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 666, "episode_id": "667", "scene_id": "ULsKaCPVFJR", "instruction": "Turn around and go down the long hallway. Turn the right corner, and turn left into the bathroom. ", "start_position": [-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], "start_rotation": [-0.0, 0.49999999999999983, 0.0, 0.8660254037844387], "goal_position": [3.4707400798797607, 0.08356200158596039, 5.586850166320801], "goal_radius": 3.0, "reference_path": "[[-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], [1.6087199449539185, 0.08356200158596039, 1.7026499509811401], [2.509310007095337, 0.08356200158596039, 2.6357200145721436], [3.302730083465576, 0.08356200158596039, 3.4445199966430664], [3.4707400798797607, 0.08356200158596039, 5.586850166320801]]", "geodesic_distance": 6.795109748840332, "gt_locations": "[[-0.01926169916987419, 0.08356200158596039, -0.1041179969906807], [0.1575150191783905, 0.08356200158596039, 0.07265876978635788], [0.3342917561531067, 0.08356200158596039, 0.24943554401397705], [0.5110684633255005, 0.08356200158596039, 0.4262123107910156], [0.6878451704978943, 0.08356200158596039, 0.6029890775680542], [0.8646218776702881, 0.08356200158596039, 0.7797658443450928], [1.0413986444473267, 0.08356200158596039, 0.9565426111221313], [1.2181754112243652, 0.08356200158596039, 1.13331937789917], [1.3431754112243652, 0.08356200158596039, 1.3498257398605347], [1.5199520587921143, 0.08356200158596039, 1.5266025066375732], [1.6967287063598633, 0.08356200158596039, 1.7033792734146118], [1.8735053539276123, 0.08356200158596039, 1.8801560401916504], [2.0502820014953613, 0.08356200158596039, 2.0569329261779785], [2.2270586490631104, 0.08356200158596039, 2.2337098121643066], [2.4038352966308594, 0.08356200158596039, 2.4104866981506348], [2.5806119441986084, 0.08356200158596039, 2.587263584136963], [2.7573885917663574, 0.08356200158596039, 2.764040470123291], [2.9341652393341064, 0.08356200158596039, 2.940817356109619], [3.1109418869018555, 0.08356200158596039, 3.1175942420959473], [3.1756465435028076, 0.08356200158596039, 3.3590757846832275], [3.2403512001037598, 0.08356200158596039, 3.600557327270508], [3.305055856704712, 0.08356200158596039, 3.842038869857788], [3.369760513305664, 0.08356200158596039, 4.083520412445068], [3.369760513305664, 0.08356200158596039, 4.333520412445068], [3.369760513305664, 0.08356200158596039, 4.583520412445068], [3.369760513305664, 0.08356200158596039, 4.833520412445068], [3.369760513305664, 0.08356200158596039, 5.083520412445068], [3.434465169906616, 0.08356200158596039, 5.3250017166137695]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 667, "episode_id": "668", "scene_id": "VLzqgDo317F", "instruction": "Turn so you are looking down a long hallways with a red carpet.  Walk down the carpet towards the window until you reach the middle of the first room you come to.  Keep walking until the red carpet splits off to the right.  Turn there and take a few step forward then stop at the top of the staircase leading down to another floor. ", "start_position": [6.454410076141357, 3.038273811340332, 7.869699954986572], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.1462409943342209, 3.384796619415283, 6.632299900054932], "goal_radius": 3.0, "reference_path": "[[6.454410076141357, 3.038273811340332, 7.869699954986572], [5.332910060882568, 3.038273811340332, 7.964210033416748], [3.605950117111206, 3.038273811340332, 7.847620010375977], [2.366260051727295, 3.038273811340332, 7.764369964599609], [-0.1462409943342209, 3.384796619415283, 6.632299900054932]]", "geodesic_distance": 6.732661247253418, "gt_locations": "[[6.454410076141357, 3.038273811340332, 7.869699954986572], [6.204410076141357, 3.038273811340332, 7.869699954986572], [5.954410076141357, 3.038273811340332, 7.869699954986572], [5.704410076141357, 3.038273811340332, 7.869699954986572], [5.454410076141357, 3.038273811340332, 7.869699954986572], [5.204410076141357, 3.038273811340332, 7.869699954986572], [4.954410076141357, 3.038273811340332, 7.869699954986572], [4.704410076141357, 3.038273811340332, 7.869699954986572], [4.454410076141357, 3.038273811340332, 7.869699954986572], [4.204410076141357, 3.038273811340332, 7.869699954986572], [3.9544100761413574, 3.038273811340332, 7.869699954986572], [3.7044100761413574, 3.038273811340332, 7.869699954986572], [3.4544100761413574, 3.038273811340332, 7.869699954986572], [3.2044100761413574, 3.038273811340332, 7.869699954986572], [2.9544100761413574, 3.038273811340332, 7.869699954986572], [2.712928533554077, 3.038273811340332, 7.804995059967041], [2.471446990966797, 3.038273811340332, 7.74029016494751], [2.2299654483795166, 3.038273811340332, 7.6755852699279785], [1.9884840250015259, 3.038273811340332, 7.610880374908447], [1.7470026016235352, 3.038273811340332, 7.546175479888916], [1.5304962396621704, 3.038273811340332, 7.421175479888916], [1.3139898777008057, 3.14532470703125, 7.296175479888916], [1.097483515739441, 3.104856014251709, 7.171175479888916], [0.8809771537780762, 3.064387321472168, 7.046175479888916], [0.6644707918167114, 3.038273811340332, 6.921175479888916], [0.4229893088340759, 3.0851056575775146, 6.856470584869385], [0.18150781095027924, 3.296015977859497, 6.7917656898498535]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 668, "episode_id": "669", "scene_id": "VLzqgDo317F", "instruction": "Take a left, and walk down the red carpet. Then take a right down the carpet walkway, the first to your right and stop. ", "start_position": [6.454410076141357, 3.038273811340332, 7.869699954986572], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.1462409943342209, 3.384796619415283, 6.632299900054932], "goal_radius": 3.0, "reference_path": "[[6.454410076141357, 3.038273811340332, 7.869699954986572], [5.332910060882568, 3.038273811340332, 7.964210033416748], [3.605950117111206, 3.038273811340332, 7.847620010375977], [2.366260051727295, 3.038273811340332, 7.764369964599609], [-0.1462409943342209, 3.384796619415283, 6.632299900054932]]", "geodesic_distance": 6.732661247253418, "gt_locations": "[[6.454410076141357, 3.038273811340332, 7.869699954986572], [6.204410076141357, 3.038273811340332, 7.869699954986572], [5.954410076141357, 3.038273811340332, 7.869699954986572], [5.704410076141357, 3.038273811340332, 7.869699954986572], [5.454410076141357, 3.038273811340332, 7.869699954986572], [5.204410076141357, 3.038273811340332, 7.869699954986572], [4.954410076141357, 3.038273811340332, 7.869699954986572], [4.704410076141357, 3.038273811340332, 7.869699954986572], [4.454410076141357, 3.038273811340332, 7.869699954986572], [4.204410076141357, 3.038273811340332, 7.869699954986572], [3.9544100761413574, 3.038273811340332, 7.869699954986572], [3.7044100761413574, 3.038273811340332, 7.869699954986572], [3.4544100761413574, 3.038273811340332, 7.869699954986572], [3.2044100761413574, 3.038273811340332, 7.869699954986572], [2.9544100761413574, 3.038273811340332, 7.869699954986572], [2.712928533554077, 3.038273811340332, 7.804995059967041], [2.471446990966797, 3.038273811340332, 7.74029016494751], [2.2299654483795166, 3.038273811340332, 7.6755852699279785], [1.9884840250015259, 3.038273811340332, 7.610880374908447], [1.7470026016235352, 3.038273811340332, 7.546175479888916], [1.5304962396621704, 3.038273811340332, 7.421175479888916], [1.3139898777008057, 3.14532470703125, 7.296175479888916], [1.097483515739441, 3.104856014251709, 7.171175479888916], [0.8809771537780762, 3.064387321472168, 7.046175479888916], [0.6644707918167114, 3.038273811340332, 6.921175479888916], [0.4229893088340759, 3.0851056575775146, 6.856470584869385], [0.18150781095027924, 3.296015977859497, 6.7917656898498535]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 669, "episode_id": "670", "scene_id": "VLzqgDo317F", "instruction": "With the red ropes behind you, walk straight along the red carpet until you get to the big room with more red ropes.  Stop at the top of the stairs just before passing the two middle columns. ", "start_position": [6.454410076141357, 3.038273811340332, 7.869699954986572], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-0.1462409943342209, 3.384796619415283, 6.632299900054932], "goal_radius": 3.0, "reference_path": "[[6.454410076141357, 3.038273811340332, 7.869699954986572], [5.332910060882568, 3.038273811340332, 7.964210033416748], [3.605950117111206, 3.038273811340332, 7.847620010375977], [2.366260051727295, 3.038273811340332, 7.764369964599609], [-0.1462409943342209, 3.384796619415283, 6.632299900054932]]", "geodesic_distance": 6.732661247253418, "gt_locations": "[[6.454410076141357, 3.038273811340332, 7.869699954986572], [6.204410076141357, 3.038273811340332, 7.869699954986572], [5.954410076141357, 3.038273811340332, 7.869699954986572], [5.704410076141357, 3.038273811340332, 7.869699954986572], [5.454410076141357, 3.038273811340332, 7.869699954986572], [5.204410076141357, 3.038273811340332, 7.869699954986572], [4.954410076141357, 3.038273811340332, 7.869699954986572], [4.704410076141357, 3.038273811340332, 7.869699954986572], [4.454410076141357, 3.038273811340332, 7.869699954986572], [4.204410076141357, 3.038273811340332, 7.869699954986572], [3.9544100761413574, 3.038273811340332, 7.869699954986572], [3.7044100761413574, 3.038273811340332, 7.869699954986572], [3.4544100761413574, 3.038273811340332, 7.869699954986572], [3.2044100761413574, 3.038273811340332, 7.869699954986572], [2.9544100761413574, 3.038273811340332, 7.869699954986572], [2.712928533554077, 3.038273811340332, 7.804995059967041], [2.471446990966797, 3.038273811340332, 7.74029016494751], [2.2299654483795166, 3.038273811340332, 7.6755852699279785], [1.9884840250015259, 3.038273811340332, 7.610880374908447], [1.7470026016235352, 3.038273811340332, 7.546175479888916], [1.5304962396621704, 3.038273811340332, 7.421175479888916], [1.3139898777008057, 3.14532470703125, 7.296175479888916], [1.097483515739441, 3.104856014251709, 7.171175479888916], [0.8809771537780762, 3.064387321472168, 7.046175479888916], [0.6644707918167114, 3.038273811340332, 6.921175479888916], [0.4229893088340759, 3.0851056575775146, 6.856470584869385], [0.18150781095027924, 3.296015977859497, 6.7917656898498535]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 670, "episode_id": "671", "scene_id": "VzqfbhrpDEA", "instruction": "Walk forward toward the dining chair. Then turn left and walk toward the brown door. Turn right and continue walking past the stairs and into the doorway. Turn left into the doorway to the left. Keep walking and stop in front of the doorway on your right. ", "start_position": [-10.428999900817871, 0.09100902080535889, -2.2516400814056396], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-3.961750030517578, 0.09100902080535889, -7.199490070343018], "goal_radius": 3.0, "reference_path": "[[-10.428999900817871, 0.09100902080535889, -2.2516400814056396], [-7.808129787445068, 0.09100902080535889, -3.442650079727173], [-5.738409996032715, 0.09100902080535889, -4.045479774475098], [-4.501580238342285, 0.09100902080535889, -4.180990219116211], [-3.961750030517578, 0.09100902080535889, -7.199490070343018]]", "geodesic_distance": 9.129657745361328, "gt_locations": "[[-10.428999900817871, 0.09100902080535889, -2.2516400814056396], [-10.187518119812012, 0.09100902080535889, -2.316344738006592], [-9.971012115478516, 0.09100902080535889, -2.441344738006592], [-9.75450611114502, 0.09100902080535889, -2.566344738006592], [-9.538000106811523, 0.09100902080535889, -2.691344738006592], [-9.321494102478027, 0.09100902080535889, -2.816344738006592], [-9.104988098144531, 0.09100902080535889, -2.941344738006592], [-8.888482093811035, 0.09100902080535889, -3.066344738006592], [-8.647000312805176, 0.09100902080535889, -3.131049394607544], [-8.405518531799316, 0.09100902080535889, -3.195754051208496], [-8.164036750793457, 0.09100902080535889, -3.2604587078094482], [-7.922555446624756, 0.09100902080535889, -3.3251633644104004], [-7.681074142456055, 0.09100902080535889, -3.3898680210113525], [-7.4395928382873535, 0.09100902080535889, -3.4545726776123047], [-7.198111534118652, 0.09100902080535889, -3.519277334213257], [-6.956630229949951, 0.09100902080535889, -3.583981990814209], [-6.71514892578125, 0.09100902080535889, -3.648686647415161], [-6.473667621612549, 0.09100902080535889, -3.7133913040161133], [-6.232186317443848, 0.09100902080535889, -3.7780959606170654], [-6.015679836273193, 0.09100902080535889, -3.9030959606170654], [-5.774198532104492, 0.09100902080535889, -3.9678006172180176], [-5.532717227935791, 0.09100902080535889, -4.032505512237549], [-5.29123592376709, 0.09100902080535889, -4.09721040725708], [-5.049754619598389, 0.09100902080535889, -4.161915302276611], [-4.799754619598389, 0.09100902080535889, -4.161915302276611], [-4.583248138427734, 0.09100902080535889, -4.286915302276611], [-4.458248138427734, 0.09100902080535889, -4.503421783447266], [-4.322611331939697, 0.09100902080535889, -4.718155384063721], [-4.288355827331543, 0.09100902080535889, -4.973049163818359], [-4.288355827331543, 0.09100902080535889, -5.223049163818359], [-4.223650932312012, 0.09100902080535889, -5.4645304679870605], [-4.1589460372924805, 0.09100902080535889, -5.706011772155762], [-4.094241142272949, 0.09100902080535889, -5.947493076324463], [-4.029536247253418, 0.09100902080535889, -6.188974380493164], [-4.029536247253418, 0.09100902080535889, -6.438974380493164], [-4.029536247253418, 0.09100902080535889, -6.688974380493164], [-4.029536247253418, 0.09100902080535889, -6.938974380493164]]", "gt_actions": "[2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 1, 2, 2, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 671, "episode_id": "672", "scene_id": "VzqfbhrpDEA", "instruction": "Walk past the dining table and past the stairs into the doorway just past the stairs.  When you see the window with curtains, turn left and walk a few steps until you are in front of some cabinets.  Stop in front of the sink on the marble counter in between the cabinets displaying glassware. ", "start_position": [-10.428999900817871, 0.09100902080535889, -2.2516400814056396], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-3.961750030517578, 0.09100902080535889, -7.199490070343018], "goal_radius": 3.0, "reference_path": "[[-10.428999900817871, 0.09100902080535889, -2.2516400814056396], [-7.808129787445068, 0.09100902080535889, -3.442650079727173], [-5.738409996032715, 0.09100902080535889, -4.045479774475098], [-4.501580238342285, 0.09100902080535889, -4.180990219116211], [-3.961750030517578, 0.09100902080535889, -7.199490070343018]]", "geodesic_distance": 9.129657745361328, "gt_locations": "[[-10.428999900817871, 0.09100902080535889, -2.2516400814056396], [-10.187518119812012, 0.09100902080535889, -2.316344738006592], [-9.971012115478516, 0.09100902080535889, -2.441344738006592], [-9.75450611114502, 0.09100902080535889, -2.566344738006592], [-9.538000106811523, 0.09100902080535889, -2.691344738006592], [-9.321494102478027, 0.09100902080535889, -2.816344738006592], [-9.104988098144531, 0.09100902080535889, -2.941344738006592], [-8.888482093811035, 0.09100902080535889, -3.066344738006592], [-8.647000312805176, 0.09100902080535889, -3.131049394607544], [-8.405518531799316, 0.09100902080535889, -3.195754051208496], [-8.164036750793457, 0.09100902080535889, -3.2604587078094482], [-7.922555446624756, 0.09100902080535889, -3.3251633644104004], [-7.681074142456055, 0.09100902080535889, -3.3898680210113525], [-7.4395928382873535, 0.09100902080535889, -3.4545726776123047], [-7.198111534118652, 0.09100902080535889, -3.519277334213257], [-6.956630229949951, 0.09100902080535889, -3.583981990814209], [-6.71514892578125, 0.09100902080535889, -3.648686647415161], [-6.473667621612549, 0.09100902080535889, -3.7133913040161133], [-6.232186317443848, 0.09100902080535889, -3.7780959606170654], [-6.015679836273193, 0.09100902080535889, -3.9030959606170654], [-5.774198532104492, 0.09100902080535889, -3.9678006172180176], [-5.532717227935791, 0.09100902080535889, -4.032505512237549], [-5.29123592376709, 0.09100902080535889, -4.09721040725708], [-5.049754619598389, 0.09100902080535889, -4.161915302276611], [-4.799754619598389, 0.09100902080535889, -4.161915302276611], [-4.583248138427734, 0.09100902080535889, -4.286915302276611], [-4.458248138427734, 0.09100902080535889, -4.503421783447266], [-4.322611331939697, 0.09100902080535889, -4.718155384063721], [-4.288355827331543, 0.09100902080535889, -4.973049163818359], [-4.288355827331543, 0.09100902080535889, -5.223049163818359], [-4.223650932312012, 0.09100902080535889, -5.4645304679870605], [-4.1589460372924805, 0.09100902080535889, -5.706011772155762], [-4.094241142272949, 0.09100902080535889, -5.947493076324463], [-4.029536247253418, 0.09100902080535889, -6.188974380493164], [-4.029536247253418, 0.09100902080535889, -6.438974380493164], [-4.029536247253418, 0.09100902080535889, -6.688974380493164], [-4.029536247253418, 0.09100902080535889, -6.938974380493164]]", "gt_actions": "[2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 1, 2, 2, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 672, "episode_id": "673", "scene_id": "VzqfbhrpDEA", "instruction": "Go through the room opposite the wine cases, and to the left of the room division into the small archway passed the stairs on the left, make a left into the archway and a few steps into the hallway and stop. ", "start_position": [-10.428999900817871, 0.09100902080535889, -2.2516400814056396], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-3.961750030517578, 0.09100902080535889, -7.199490070343018], "goal_radius": 3.0, "reference_path": "[[-10.428999900817871, 0.09100902080535889, -2.2516400814056396], [-7.808129787445068, 0.09100902080535889, -3.442650079727173], [-5.738409996032715, 0.09100902080535889, -4.045479774475098], [-4.501580238342285, 0.09100902080535889, -4.180990219116211], [-3.961750030517578, 0.09100902080535889, -7.199490070343018]]", "geodesic_distance": 9.129657745361328, "gt_locations": "[[-10.428999900817871, 0.09100902080535889, -2.2516400814056396], [-10.187518119812012, 0.09100902080535889, -2.316344738006592], [-9.971012115478516, 0.09100902080535889, -2.441344738006592], [-9.75450611114502, 0.09100902080535889, -2.566344738006592], [-9.538000106811523, 0.09100902080535889, -2.691344738006592], [-9.321494102478027, 0.09100902080535889, -2.816344738006592], [-9.104988098144531, 0.09100902080535889, -2.941344738006592], [-8.888482093811035, 0.09100902080535889, -3.066344738006592], [-8.647000312805176, 0.09100902080535889, -3.131049394607544], [-8.405518531799316, 0.09100902080535889, -3.195754051208496], [-8.164036750793457, 0.09100902080535889, -3.2604587078094482], [-7.922555446624756, 0.09100902080535889, -3.3251633644104004], [-7.681074142456055, 0.09100902080535889, -3.3898680210113525], [-7.4395928382873535, 0.09100902080535889, -3.4545726776123047], [-7.198111534118652, 0.09100902080535889, -3.519277334213257], [-6.956630229949951, 0.09100902080535889, -3.583981990814209], [-6.71514892578125, 0.09100902080535889, -3.648686647415161], [-6.473667621612549, 0.09100902080535889, -3.7133913040161133], [-6.232186317443848, 0.09100902080535889, -3.7780959606170654], [-6.015679836273193, 0.09100902080535889, -3.9030959606170654], [-5.774198532104492, 0.09100902080535889, -3.9678006172180176], [-5.532717227935791, 0.09100902080535889, -4.032505512237549], [-5.29123592376709, 0.09100902080535889, -4.09721040725708], [-5.049754619598389, 0.09100902080535889, -4.161915302276611], [-4.799754619598389, 0.09100902080535889, -4.161915302276611], [-4.583248138427734, 0.09100902080535889, -4.286915302276611], [-4.458248138427734, 0.09100902080535889, -4.503421783447266], [-4.322611331939697, 0.09100902080535889, -4.718155384063721], [-4.288355827331543, 0.09100902080535889, -4.973049163818359], [-4.288355827331543, 0.09100902080535889, -5.223049163818359], [-4.223650932312012, 0.09100902080535889, -5.4645304679870605], [-4.1589460372924805, 0.09100902080535889, -5.706011772155762], [-4.094241142272949, 0.09100902080535889, -5.947493076324463], [-4.029536247253418, 0.09100902080535889, -6.188974380493164], [-4.029536247253418, 0.09100902080535889, -6.438974380493164], [-4.029536247253418, 0.09100902080535889, -6.688974380493164], [-4.029536247253418, 0.09100902080535889, -6.938974380493164]]", "gt_actions": "[2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 2, 2, 1, 2, 2, 1, 1, 2, 2, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 673, "episode_id": "674", "scene_id": "ac26ZMwG7aT", "instruction": "Exit the room through the brown doorway, go around the office table and through the double doors, go down the hallway a second and then make a right into the first brown doorway on the right and step in and stop. ", "start_position": [12.845600128173828, 0.13922199606895447, -10.180899620056152], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [4.94025993347168, 0.13922199606895447, -9.339570045471191], "goal_radius": 3.0, "reference_path": "[[12.845600128173828, 0.13922199606895447, -10.180899620056152], [12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [8.350720405578613, 0.13922199606895447, -9.21364974975586], [6.132070064544678, 0.13922199606895447, -8.009550094604492], [4.94025993347168, 0.13922199606895447, -9.339570045471191]]", "geodesic_distance": 9.446529388427734, "gt_locations": "[[12.845600128173828, 0.13922199606895447, -10.180899620056152], [12.845600128173828, 0.13922199606895447, -9.930899620056152], [12.845600128173828, 0.13922199606895447, -9.680899620056152], [12.845600128173828, 0.13922199606895447, -9.430899620056152], [12.845600128173828, 0.13922199606895447, -9.180899620056152], [12.6688232421875, 0.13922199606895447, -9.004122734069824], [12.492046356201172, 0.13922199606895447, -8.827345848083496], [12.315269470214844, 0.13922199606895447, -8.650568962097168], [12.138492584228516, 0.13922199606895447, -8.47379207611084], [11.92198657989502, 0.13922199606895447, -8.34879207611084], [11.705480575561523, 0.13922199606895447, -8.22379207611084], [11.463998794555664, 0.13922199606895447, -8.159087181091309], [11.222517013549805, 0.13922199606895447, -8.094382286071777], [10.981035232543945, 0.13922199606895447, -8.029677391052246], [10.76452922821045, 0.13922199606895447, -7.904677391052246], [10.548023223876953, 0.13922199606895447, -7.779677391052246], [10.298023223876953, 0.13922199606895447, -7.779677391052246], [10.048023223876953, 0.13922199606895447, -7.779677391052246], [9.798023223876953, 0.13922199606895447, -7.779677391052246], [9.531126976013184, 0.13922199606895447, -7.802025318145752], [9.334421157836914, 0.13922199606895447, -7.97880220413208], [9.157644271850586, 0.13922199606895447, -8.15557861328125], [8.980867385864258, 0.13922199606895447, -8.332355499267578], [8.80409049987793, 0.13922199606895447, -8.509132385253906], [8.67909049987793, 0.13922199606895447, -8.725638389587402], [8.55409049987793, 0.13922199606895447, -8.942144393920898], [8.31260871887207, 0.13922199606895447, -8.877439498901367], [8.071126937866211, 0.13922199606895447, -8.812734603881836], [7.82964563369751, 0.13922199606895447, -8.748029708862305], [7.588164329528809, 0.13922199606895447, -8.683324813842773], [7.371657848358154, 0.13922199606895447, -8.558324813842773], [7.1551513671875, 0.13922199606895447, -8.433324813842773], [6.913670063018799, 0.13922199606895447, -8.368619918823242], [6.6971635818481445, 0.13922199606895447, -8.243619918823242], [6.48065710067749, 0.13922199606895447, -8.118619918823242], [6.264150619506836, 0.13922199606895447, -8.243619918823242], [6.047644138336182, 0.13922199606895447, -8.368619918823242], [5.8708672523498535, 0.13922199606895447, -8.54539680480957], [5.694090366363525, 0.13922199606895447, -8.722173690795898], [5.517313480377197, 0.13922199606895447, -8.898950576782227], [5.300806999206543, 0.13922199606895447, -9.023950576782227]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 2, 1, 0]"}
{"id": 674, "episode_id": "675", "scene_id": "ac26ZMwG7aT", "instruction": "Turn and walk towards the open brown wooden door that leads to an office with a large desk.  Exit the room through the door. Walk around the left side of the table and go through the double open doors that leads to a hallway.  Walk out into the hallway until you reach the first door on the right.  Turn tight and take two steps into the room, stopping in the doorway to the room next to the carpet. ", "start_position": [12.845600128173828, 0.13922199606895447, -10.180899620056152], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [4.94025993347168, 0.13922199606895447, -9.339570045471191], "goal_radius": 3.0, "reference_path": "[[12.845600128173828, 0.13922199606895447, -10.180899620056152], [12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [8.350720405578613, 0.13922199606895447, -9.21364974975586], [6.132070064544678, 0.13922199606895447, -8.009550094604492], [4.94025993347168, 0.13922199606895447, -9.339570045471191]]", "geodesic_distance": 9.446529388427734, "gt_locations": "[[12.845600128173828, 0.13922199606895447, -10.180899620056152], [12.845600128173828, 0.13922199606895447, -9.930899620056152], [12.845600128173828, 0.13922199606895447, -9.680899620056152], [12.845600128173828, 0.13922199606895447, -9.430899620056152], [12.845600128173828, 0.13922199606895447, -9.180899620056152], [12.6688232421875, 0.13922199606895447, -9.004122734069824], [12.492046356201172, 0.13922199606895447, -8.827345848083496], [12.315269470214844, 0.13922199606895447, -8.650568962097168], [12.138492584228516, 0.13922199606895447, -8.47379207611084], [11.92198657989502, 0.13922199606895447, -8.34879207611084], [11.705480575561523, 0.13922199606895447, -8.22379207611084], [11.463998794555664, 0.13922199606895447, -8.159087181091309], [11.222517013549805, 0.13922199606895447, -8.094382286071777], [10.981035232543945, 0.13922199606895447, -8.029677391052246], [10.76452922821045, 0.13922199606895447, -7.904677391052246], [10.548023223876953, 0.13922199606895447, -7.779677391052246], [10.298023223876953, 0.13922199606895447, -7.779677391052246], [10.048023223876953, 0.13922199606895447, -7.779677391052246], [9.798023223876953, 0.13922199606895447, -7.779677391052246], [9.531126976013184, 0.13922199606895447, -7.802025318145752], [9.334421157836914, 0.13922199606895447, -7.97880220413208], [9.157644271850586, 0.13922199606895447, -8.15557861328125], [8.980867385864258, 0.13922199606895447, -8.332355499267578], [8.80409049987793, 0.13922199606895447, -8.509132385253906], [8.67909049987793, 0.13922199606895447, -8.725638389587402], [8.55409049987793, 0.13922199606895447, -8.942144393920898], [8.31260871887207, 0.13922199606895447, -8.877439498901367], [8.071126937866211, 0.13922199606895447, -8.812734603881836], [7.82964563369751, 0.13922199606895447, -8.748029708862305], [7.588164329528809, 0.13922199606895447, -8.683324813842773], [7.371657848358154, 0.13922199606895447, -8.558324813842773], [7.1551513671875, 0.13922199606895447, -8.433324813842773], [6.913670063018799, 0.13922199606895447, -8.368619918823242], [6.6971635818481445, 0.13922199606895447, -8.243619918823242], [6.48065710067749, 0.13922199606895447, -8.118619918823242], [6.264150619506836, 0.13922199606895447, -8.243619918823242], [6.047644138336182, 0.13922199606895447, -8.368619918823242], [5.8708672523498535, 0.13922199606895447, -8.54539680480957], [5.694090366363525, 0.13922199606895447, -8.722173690795898], [5.517313480377197, 0.13922199606895447, -8.898950576782227], [5.300806999206543, 0.13922199606895447, -9.023950576782227]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 2, 1, 0]"}
{"id": 675, "episode_id": "676", "scene_id": "ac26ZMwG7aT", "instruction": "Exit the room with the TV, into the room with a wooden desk with two office chairs. Exit that room through the double doors, into the curving hall. Turn into the first room on the right and stop in the doorway. ", "start_position": [12.845600128173828, 0.13922199606895447, -10.180899620056152], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [4.94025993347168, 0.13922199606895447, -9.339570045471191], "goal_radius": 3.0, "reference_path": "[[12.845600128173828, 0.13922199606895447, -10.180899620056152], [12.837200164794922, 0.13922199606895447, -8.838459968566895], [11.02280044555664, 0.13922199606895447, -7.9976301193237305], [8.350720405578613, 0.13922199606895447, -9.21364974975586], [6.132070064544678, 0.13922199606895447, -8.009550094604492], [4.94025993347168, 0.13922199606895447, -9.339570045471191]]", "geodesic_distance": 9.446529388427734, "gt_locations": "[[12.845600128173828, 0.13922199606895447, -10.180899620056152], [12.845600128173828, 0.13922199606895447, -9.930899620056152], [12.845600128173828, 0.13922199606895447, -9.680899620056152], [12.845600128173828, 0.13922199606895447, -9.430899620056152], [12.845600128173828, 0.13922199606895447, -9.180899620056152], [12.6688232421875, 0.13922199606895447, -9.004122734069824], [12.492046356201172, 0.13922199606895447, -8.827345848083496], [12.315269470214844, 0.13922199606895447, -8.650568962097168], [12.138492584228516, 0.13922199606895447, -8.47379207611084], [11.92198657989502, 0.13922199606895447, -8.34879207611084], [11.705480575561523, 0.13922199606895447, -8.22379207611084], [11.463998794555664, 0.13922199606895447, -8.159087181091309], [11.222517013549805, 0.13922199606895447, -8.094382286071777], [10.981035232543945, 0.13922199606895447, -8.029677391052246], [10.76452922821045, 0.13922199606895447, -7.904677391052246], [10.548023223876953, 0.13922199606895447, -7.779677391052246], [10.298023223876953, 0.13922199606895447, -7.779677391052246], [10.048023223876953, 0.13922199606895447, -7.779677391052246], [9.798023223876953, 0.13922199606895447, -7.779677391052246], [9.531126976013184, 0.13922199606895447, -7.802025318145752], [9.334421157836914, 0.13922199606895447, -7.97880220413208], [9.157644271850586, 0.13922199606895447, -8.15557861328125], [8.980867385864258, 0.13922199606895447, -8.332355499267578], [8.80409049987793, 0.13922199606895447, -8.509132385253906], [8.67909049987793, 0.13922199606895447, -8.725638389587402], [8.55409049987793, 0.13922199606895447, -8.942144393920898], [8.31260871887207, 0.13922199606895447, -8.877439498901367], [8.071126937866211, 0.13922199606895447, -8.812734603881836], [7.82964563369751, 0.13922199606895447, -8.748029708862305], [7.588164329528809, 0.13922199606895447, -8.683324813842773], [7.371657848358154, 0.13922199606895447, -8.558324813842773], [7.1551513671875, 0.13922199606895447, -8.433324813842773], [6.913670063018799, 0.13922199606895447, -8.368619918823242], [6.6971635818481445, 0.13922199606895447, -8.243619918823242], [6.48065710067749, 0.13922199606895447, -8.118619918823242], [6.264150619506836, 0.13922199606895447, -8.243619918823242], [6.047644138336182, 0.13922199606895447, -8.368619918823242], [5.8708672523498535, 0.13922199606895447, -8.54539680480957], [5.694090366363525, 0.13922199606895447, -8.722173690795898], [5.517313480377197, 0.13922199606895447, -8.898950576782227], [5.300806999206543, 0.13922199606895447, -9.023950576782227]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 3, 1, 1, 1, 2, 1, 1, 3, 3, 1, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 3, 3, 3, 3, 1, 1, 3, 1, 1, 1, 2, 1, 0]"}
{"id": 676, "episode_id": "677", "scene_id": "V2XKFyX4ASd", "instruction": "Walk right around the railings and around, going past the TV and recliners.  Stop when the railings start again on the opposite side of the entertainment center in front of some closed double doors.  It is on the opposite side of the room than the windows looking outside. ", "start_position": [2.217600107192993, -2.8969039916992188, -5.81443977355957], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.403600215911865, -2.832265853881836, -1.6717400550842285], "goal_radius": 3.0, "reference_path": "[[2.217600107192993, -2.8969039916992188, -5.81443977355957], [-0.07153420150279999, -2.8969039916992188, -3.9784600734710693], [-0.002066009910777211, -2.8969039916992188, -2.0302700996398926], [2.1677699089050293, -2.8969039916992188, -0.5806300044059753], [4.141980171203613, -2.8969039916992188, -0.5140290260314941], [7.403600215911865, -2.832265853881836, -1.6717400550842285]]", "geodesic_distance": 12.30062484741211, "gt_locations": "[[2.217600107192993, -2.8969039916992188, -5.81443977355957], [2.040823459625244, -2.8969039916992188, -5.637662887573242], [1.8640468120574951, -2.8969039916992188, -5.460886001586914], [1.687270164489746, -2.8969039916992188, -5.284109115600586], [1.510493516921997, -2.8969039916992188, -5.107332229614258], [1.333716869354248, -2.8969039916992188, -4.93055534362793], [1.1172105073928833, -2.8969039916992188, -4.80555534362793], [0.9007041454315186, -2.8969039916992188, -4.68055534362793], [0.6841977834701538, -2.8969039916992188, -4.55555534362793], [0.46769142150878906, -2.8969039916992188, -4.43055534362793], [0.2511850595474243, -2.8969039916992188, -4.30555534362793], [0.186480313539505, -2.8969039916992188, -4.0640740394592285], [0.1068781241774559, -2.8969039916992188, -3.8230438232421875], [0.042173370718955994, -2.8969039916992188, -3.5815622806549072], [0.04217338562011719, -2.8969039916992188, -3.3315622806549072], [0.04217340052127838, -2.8969039916992188, -3.0815622806549072], [0.042173415422439575, -2.8969039916992188, -2.8315622806549072], [0.04217343032360077, -2.8969039916992188, -2.5815622806549072], [0.04217344522476196, -2.8969039916992188, -2.3315622806549072], [0.2586798071861267, -2.8969039916992188, -2.169400215148926], [0.3836798071861267, -2.8969039916992188, -1.952893853187561], [0.5086798071861267, -2.8969039916992188, -1.7363874912261963], [0.6854565143585205, -2.8969039916992188, -1.5596107244491577], [0.8104565143585205, -2.8969039916992188, -1.343104362487793], [1.0269628763198853, -2.8969039916992188, -1.218104362487793], [1.24346923828125, -2.8969039916992188, -1.093104362487793], [1.4599756002426147, -2.8969039916992188, -0.968104362487793], [1.6764819622039795, -2.8969039916992188, -0.843104362487793], [1.8929883241653442, -2.8969039916992188, -0.718104362487793], [2.134469747543335, -2.8969039916992188, -0.6533995866775513], [2.384469747543335, -2.8969039916992188, -0.6533995866775513], [2.634469747543335, -2.8969039916992188, -0.6533995866775513], [2.884469747543335, -2.8969039916992188, -0.6533995866775513], [3.134469747543335, -2.8969039916992188, -0.6533995866775513], [3.384469747543335, -2.8969039916992188, -0.6533995866775513], [3.6259512901306152, -2.8969039916992188, -0.5886948108673096], [3.8674328327178955, -2.8969039916992188, -0.5239900350570679], [4.108914375305176, -2.8969039916992188, -0.5886948108673096], [4.350395679473877, -2.8969039916992188, -0.6533995866775513], [4.591876983642578, -2.8969039916992188, -0.718104362487793], [4.833358287811279, -2.8969039916992188, -0.7828091382980347], [5.0748395919799805, -2.8969039916992188, -0.8475139141082764], [5.316320896148682, -2.8969039916992188, -0.9122186899185181], [5.557802200317383, -2.8969039916992188, -0.9769234657287598], [5.799283504486084, -2.8969039916992188, -1.0416282415390015], [6.040764808654785, -2.8969039916992188, -1.1063330173492432], [6.282246112823486, -2.8969039916992188, -1.1710377931594849], [6.5237274169921875, -2.895495891571045, -1.2357425689697266], [6.740233898162842, -2.8600640296936035, -1.3607425689697266], [6.956740379333496, -2.824631929397583, -1.4857425689697266]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 677, "episode_id": "678", "scene_id": "V2XKFyX4ASd", "instruction": "Turn right and head towards the large windows and turn left. Walk through the small walkway and enter the next room. Turn left and walk all the way across the room and stop in front of the double doors on the other side. ", "start_position": [2.217600107192993, -2.8969039916992188, -5.81443977355957], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.403600215911865, -2.832265853881836, -1.6717400550842285], "goal_radius": 3.0, "reference_path": "[[2.217600107192993, -2.8969039916992188, -5.81443977355957], [-0.07153420150279999, -2.8969039916992188, -3.9784600734710693], [-0.002066009910777211, -2.8969039916992188, -2.0302700996398926], [2.1677699089050293, -2.8969039916992188, -0.5806300044059753], [4.141980171203613, -2.8969039916992188, -0.5140290260314941], [7.403600215911865, -2.832265853881836, -1.6717400550842285]]", "geodesic_distance": 12.30062484741211, "gt_locations": "[[2.217600107192993, -2.8969039916992188, -5.81443977355957], [2.040823459625244, -2.8969039916992188, -5.637662887573242], [1.8640468120574951, -2.8969039916992188, -5.460886001586914], [1.687270164489746, -2.8969039916992188, -5.284109115600586], [1.510493516921997, -2.8969039916992188, -5.107332229614258], [1.333716869354248, -2.8969039916992188, -4.93055534362793], [1.1172105073928833, -2.8969039916992188, -4.80555534362793], [0.9007041454315186, -2.8969039916992188, -4.68055534362793], [0.6841977834701538, -2.8969039916992188, -4.55555534362793], [0.46769142150878906, -2.8969039916992188, -4.43055534362793], [0.2511850595474243, -2.8969039916992188, -4.30555534362793], [0.186480313539505, -2.8969039916992188, -4.0640740394592285], [0.1068781241774559, -2.8969039916992188, -3.8230438232421875], [0.042173370718955994, -2.8969039916992188, -3.5815622806549072], [0.04217338562011719, -2.8969039916992188, -3.3315622806549072], [0.04217340052127838, -2.8969039916992188, -3.0815622806549072], [0.042173415422439575, -2.8969039916992188, -2.8315622806549072], [0.04217343032360077, -2.8969039916992188, -2.5815622806549072], [0.04217344522476196, -2.8969039916992188, -2.3315622806549072], [0.2586798071861267, -2.8969039916992188, -2.169400215148926], [0.3836798071861267, -2.8969039916992188, -1.952893853187561], [0.5086798071861267, -2.8969039916992188, -1.7363874912261963], [0.6854565143585205, -2.8969039916992188, -1.5596107244491577], [0.8104565143585205, -2.8969039916992188, -1.343104362487793], [1.0269628763198853, -2.8969039916992188, -1.218104362487793], [1.24346923828125, -2.8969039916992188, -1.093104362487793], [1.4599756002426147, -2.8969039916992188, -0.968104362487793], [1.6764819622039795, -2.8969039916992188, -0.843104362487793], [1.8929883241653442, -2.8969039916992188, -0.718104362487793], [2.134469747543335, -2.8969039916992188, -0.6533995866775513], [2.384469747543335, -2.8969039916992188, -0.6533995866775513], [2.634469747543335, -2.8969039916992188, -0.6533995866775513], [2.884469747543335, -2.8969039916992188, -0.6533995866775513], [3.134469747543335, -2.8969039916992188, -0.6533995866775513], [3.384469747543335, -2.8969039916992188, -0.6533995866775513], [3.6259512901306152, -2.8969039916992188, -0.5886948108673096], [3.8674328327178955, -2.8969039916992188, -0.5239900350570679], [4.108914375305176, -2.8969039916992188, -0.5886948108673096], [4.350395679473877, -2.8969039916992188, -0.6533995866775513], [4.591876983642578, -2.8969039916992188, -0.718104362487793], [4.833358287811279, -2.8969039916992188, -0.7828091382980347], [5.0748395919799805, -2.8969039916992188, -0.8475139141082764], [5.316320896148682, -2.8969039916992188, -0.9122186899185181], [5.557802200317383, -2.8969039916992188, -0.9769234657287598], [5.799283504486084, -2.8969039916992188, -1.0416282415390015], [6.040764808654785, -2.8969039916992188, -1.1063330173492432], [6.282246112823486, -2.8969039916992188, -1.1710377931594849], [6.5237274169921875, -2.895495891571045, -1.2357425689697266], [6.740233898162842, -2.8600640296936035, -1.3607425689697266], [6.956740379333496, -2.824631929397583, -1.4857425689697266]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 678, "episode_id": "679", "scene_id": "V2XKFyX4ASd", "instruction": "Turn left and go around the railing. Turn left again and go past the couches. Head straight until get near double doors on the right and stop there. ", "start_position": [2.217600107192993, -2.8969039916992188, -5.81443977355957], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.403600215911865, -2.832265853881836, -1.6717400550842285], "goal_radius": 3.0, "reference_path": "[[2.217600107192993, -2.8969039916992188, -5.81443977355957], [-0.07153420150279999, -2.8969039916992188, -3.9784600734710693], [-0.002066009910777211, -2.8969039916992188, -2.0302700996398926], [2.1677699089050293, -2.8969039916992188, -0.5806300044059753], [4.141980171203613, -2.8969039916992188, -0.5140290260314941], [7.403600215911865, -2.832265853881836, -1.6717400550842285]]", "geodesic_distance": 12.30062484741211, "gt_locations": "[[2.217600107192993, -2.8969039916992188, -5.81443977355957], [2.040823459625244, -2.8969039916992188, -5.637662887573242], [1.8640468120574951, -2.8969039916992188, -5.460886001586914], [1.687270164489746, -2.8969039916992188, -5.284109115600586], [1.510493516921997, -2.8969039916992188, -5.107332229614258], [1.333716869354248, -2.8969039916992188, -4.93055534362793], [1.1172105073928833, -2.8969039916992188, -4.80555534362793], [0.9007041454315186, -2.8969039916992188, -4.68055534362793], [0.6841977834701538, -2.8969039916992188, -4.55555534362793], [0.46769142150878906, -2.8969039916992188, -4.43055534362793], [0.2511850595474243, -2.8969039916992188, -4.30555534362793], [0.186480313539505, -2.8969039916992188, -4.0640740394592285], [0.1068781241774559, -2.8969039916992188, -3.8230438232421875], [0.042173370718955994, -2.8969039916992188, -3.5815622806549072], [0.04217338562011719, -2.8969039916992188, -3.3315622806549072], [0.04217340052127838, -2.8969039916992188, -3.0815622806549072], [0.042173415422439575, -2.8969039916992188, -2.8315622806549072], [0.04217343032360077, -2.8969039916992188, -2.5815622806549072], [0.04217344522476196, -2.8969039916992188, -2.3315622806549072], [0.2586798071861267, -2.8969039916992188, -2.169400215148926], [0.3836798071861267, -2.8969039916992188, -1.952893853187561], [0.5086798071861267, -2.8969039916992188, -1.7363874912261963], [0.6854565143585205, -2.8969039916992188, -1.5596107244491577], [0.8104565143585205, -2.8969039916992188, -1.343104362487793], [1.0269628763198853, -2.8969039916992188, -1.218104362487793], [1.24346923828125, -2.8969039916992188, -1.093104362487793], [1.4599756002426147, -2.8969039916992188, -0.968104362487793], [1.6764819622039795, -2.8969039916992188, -0.843104362487793], [1.8929883241653442, -2.8969039916992188, -0.718104362487793], [2.134469747543335, -2.8969039916992188, -0.6533995866775513], [2.384469747543335, -2.8969039916992188, -0.6533995866775513], [2.634469747543335, -2.8969039916992188, -0.6533995866775513], [2.884469747543335, -2.8969039916992188, -0.6533995866775513], [3.134469747543335, -2.8969039916992188, -0.6533995866775513], [3.384469747543335, -2.8969039916992188, -0.6533995866775513], [3.6259512901306152, -2.8969039916992188, -0.5886948108673096], [3.8674328327178955, -2.8969039916992188, -0.5239900350570679], [4.108914375305176, -2.8969039916992188, -0.5886948108673096], [4.350395679473877, -2.8969039916992188, -0.6533995866775513], [4.591876983642578, -2.8969039916992188, -0.718104362487793], [4.833358287811279, -2.8969039916992188, -0.7828091382980347], [5.0748395919799805, -2.8969039916992188, -0.8475139141082764], [5.316320896148682, -2.8969039916992188, -0.9122186899185181], [5.557802200317383, -2.8969039916992188, -0.9769234657287598], [5.799283504486084, -2.8969039916992188, -1.0416282415390015], [6.040764808654785, -2.8969039916992188, -1.1063330173492432], [6.282246112823486, -2.8969039916992188, -1.1710377931594849], [6.5237274169921875, -2.895495891571045, -1.2357425689697266], [6.740233898162842, -2.8600640296936035, -1.3607425689697266], [6.956740379333496, -2.824631929397583, -1.4857425689697266]]", "gt_actions": "[3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 3, 3, 1, 1, 2, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 679, "episode_id": "680", "scene_id": "V2XKFyX4ASd", "instruction": "Go through the door and to the right around the railing. Walk straight passed all of the chairs and stop in the last doorway on the right. ", "start_position": [2.6354000568389893, -2.8969039916992188, -6.720139980316162], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [7.207749843597412, -2.8969039916992188, 0.5534420013427734], "goal_radius": 3.0, "reference_path": "[[2.6354000568389893, -2.8969039916992188, -6.720139980316162], [-0.07153420150279999, -2.8969039916992188, -3.9784600734710693], [-0.002066009910777211, -2.8969039916992188, -2.0302700996398926], [2.1677699089050293, -2.8969039916992188, -0.5806300044059753], [4.141980171203613, -2.8969039916992188, -0.5140290260314941], [7.207749843597412, -2.8969039916992188, 0.5534420013427734]]", "geodesic_distance": 13.301313400268555, "gt_locations": "[[2.6354000568389893, -2.8969039916992188, -6.720139980316162], [2.4586234092712402, -2.8969039916992188, -6.543363094329834], [2.3336234092712402, -2.8969039916992188, -6.32685661315918], [2.156846761703491, -2.8969039916992188, -6.150079727172852], [1.9800701141357422, -2.8969039916992188, -5.973302841186523], [1.8032934665679932, -2.8969039916992188, -5.796525955200195], [1.6265168190002441, -2.8969039916992188, -5.619749069213867], [1.4497401714324951, -2.8969039916992188, -5.442972183227539], [1.272963523864746, -2.8969039916992188, -5.266195297241211], [1.096186876296997, -2.8969039916992188, -5.089418411254883], [0.9194101691246033, -2.8969039916992188, -4.912641525268555], [0.7426334619522095, -2.8969039916992188, -4.735864639282227], [0.5658567547798157, -2.8969039916992188, -4.559087753295898], [0.3890800476074219, -2.8969039916992188, -4.38231086730957], [0.17257368564605713, -2.8969039916992188, -4.25731086730957], [0.10786893218755722, -2.8969039916992188, -4.015829563140869], [0.04316417872905731, -2.8969039916992188, -3.774348020553589], [0.043164193630218506, -2.8969039916992188, -3.524348020553589], [0.0431642085313797, -2.8969039916992188, -3.274348020553589], [0.043164223432540894, -2.8969039916992188, -3.024348020553589], [0.04316423833370209, -2.8969039916992188, -2.774348020553589], [0.04316425323486328, -2.8969039916992188, -2.524348020553589], [0.043164268136024475, -2.8969039916992188, -2.274348020553589], [0.21994097530841827, -2.8969039916992188, -2.09757137298584], [0.3967176675796509, -2.8969039916992188, -1.9207947254180908], [0.5217176675796509, -2.8969039916992188, -1.704288363456726], [0.6984943747520447, -2.8969039916992188, -1.527511715888977], [0.8959686756134033, -2.8969039916992188, -1.3549317121505737], [1.163966178894043, -2.8969039916992188, -1.2829418182373047], [1.340742826461792, -2.8969039916992188, -1.1061650514602661], [1.5572491884231567, -2.8969039916992188, -0.9811650514602661], [1.7737555503845215, -2.8969039916992188, -0.8561650514602661], [2.0152370929718018, -2.8969039916992188, -0.7914602160453796], [2.256718635559082, -2.8969039916992188, -0.7267553806304932], [2.4982001781463623, -2.8969039916992188, -0.6620505452156067], [2.7482001781463623, -2.8969039916992188, -0.6620504856109619], [2.9982001781463623, -2.8969039916992188, -0.6620503664016724], [3.2482001781463623, -2.8969039916992188, -0.6620502471923828], [3.4982001781463623, -2.8969039916992188, -0.6620501279830933], [3.7396817207336426, -2.8969039916992188, -0.5973452925682068], [3.981163263320923, -2.8969039916992188, -0.5326404571533203], [4.222644805908203, -2.8969039916992188, -0.46793562173843384], [4.464126110076904, -2.8969039916992188, -0.40323078632354736], [4.7056074142456055, -2.8969039916992188, -0.3385259509086609], [4.947088718414307, -2.8969039916992188, -0.2738211154937744], [5.188570022583008, -2.8969039916992188, -0.20911628007888794], [5.430051326751709, -2.8969039916992188, -0.14441144466400146], [5.67153263092041, -2.8969039916992188, -0.07970660924911499], [5.913013935089111, -2.8969039916992188, -0.015001773834228516], [6.1544952392578125, -2.8969039916992188, 0.04970306158065796], [6.395976543426514, -2.8969039916992188, 0.11440789699554443], [6.637457847595215, -2.8969039916992188, 0.1791127324104309], [6.8655686378479, -2.8969039916992188, 0.3007972240447998]]", "gt_actions": "[3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 1, 2, 1, 2, 2, 1, 3, 3, 3, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 680, "episode_id": "681", "scene_id": "V2XKFyX4ASd", "instruction": "After you leave the bedroom go to the right and walk around the wall to the sitting room. Make a left in the room and walk to the second doorway on the left, wait in the doorway of bathroom. ", "start_position": [2.6354000568389893, -2.8969039916992188, -6.720139980316162], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [7.207749843597412, -2.8969039916992188, 0.5534420013427734], "goal_radius": 3.0, "reference_path": "[[2.6354000568389893, -2.8969039916992188, -6.720139980316162], [-0.07153420150279999, -2.8969039916992188, -3.9784600734710693], [-0.002066009910777211, -2.8969039916992188, -2.0302700996398926], [2.1677699089050293, -2.8969039916992188, -0.5806300044059753], [4.141980171203613, -2.8969039916992188, -0.5140290260314941], [7.207749843597412, -2.8969039916992188, 0.5534420013427734]]", "geodesic_distance": 13.301313400268555, "gt_locations": "[[2.6354000568389893, -2.8969039916992188, -6.720139980316162], [2.4586234092712402, -2.8969039916992188, -6.543363094329834], [2.3336234092712402, -2.8969039916992188, -6.32685661315918], [2.156846761703491, -2.8969039916992188, -6.150079727172852], [1.9800701141357422, -2.8969039916992188, -5.973302841186523], [1.8032934665679932, -2.8969039916992188, -5.796525955200195], [1.6265168190002441, -2.8969039916992188, -5.619749069213867], [1.4497401714324951, -2.8969039916992188, -5.442972183227539], [1.272963523864746, -2.8969039916992188, -5.266195297241211], [1.096186876296997, -2.8969039916992188, -5.089418411254883], [0.9194101691246033, -2.8969039916992188, -4.912641525268555], [0.7426334619522095, -2.8969039916992188, -4.735864639282227], [0.5658567547798157, -2.8969039916992188, -4.559087753295898], [0.3890800476074219, -2.8969039916992188, -4.38231086730957], [0.17257368564605713, -2.8969039916992188, -4.25731086730957], [0.10786893218755722, -2.8969039916992188, -4.015829563140869], [0.04316417872905731, -2.8969039916992188, -3.774348020553589], [0.043164193630218506, -2.8969039916992188, -3.524348020553589], [0.0431642085313797, -2.8969039916992188, -3.274348020553589], [0.043164223432540894, -2.8969039916992188, -3.024348020553589], [0.04316423833370209, -2.8969039916992188, -2.774348020553589], [0.04316425323486328, -2.8969039916992188, -2.524348020553589], [0.043164268136024475, -2.8969039916992188, -2.274348020553589], [0.21994097530841827, -2.8969039916992188, -2.09757137298584], [0.3967176675796509, -2.8969039916992188, -1.9207947254180908], [0.5217176675796509, -2.8969039916992188, -1.704288363456726], [0.6984943747520447, -2.8969039916992188, -1.527511715888977], [0.8959686756134033, -2.8969039916992188, -1.3549317121505737], [1.163966178894043, -2.8969039916992188, -1.2829418182373047], [1.340742826461792, -2.8969039916992188, -1.1061650514602661], [1.5572491884231567, -2.8969039916992188, -0.9811650514602661], [1.7737555503845215, -2.8969039916992188, -0.8561650514602661], [2.0152370929718018, -2.8969039916992188, -0.7914602160453796], [2.256718635559082, -2.8969039916992188, -0.7267553806304932], [2.4982001781463623, -2.8969039916992188, -0.6620505452156067], [2.7482001781463623, -2.8969039916992188, -0.6620504856109619], [2.9982001781463623, -2.8969039916992188, -0.6620503664016724], [3.2482001781463623, -2.8969039916992188, -0.6620502471923828], [3.4982001781463623, -2.8969039916992188, -0.6620501279830933], [3.7396817207336426, -2.8969039916992188, -0.5973452925682068], [3.981163263320923, -2.8969039916992188, -0.5326404571533203], [4.222644805908203, -2.8969039916992188, -0.46793562173843384], [4.464126110076904, -2.8969039916992188, -0.40323078632354736], [4.7056074142456055, -2.8969039916992188, -0.3385259509086609], [4.947088718414307, -2.8969039916992188, -0.2738211154937744], [5.188570022583008, -2.8969039916992188, -0.20911628007888794], [5.430051326751709, -2.8969039916992188, -0.14441144466400146], [5.67153263092041, -2.8969039916992188, -0.07970660924911499], [5.913013935089111, -2.8969039916992188, -0.015001773834228516], [6.1544952392578125, -2.8969039916992188, 0.04970306158065796], [6.395976543426514, -2.8969039916992188, 0.11440789699554443], [6.637457847595215, -2.8969039916992188, 0.1791127324104309], [6.8655686378479, -2.8969039916992188, 0.3007972240447998]]", "gt_actions": "[3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 1, 2, 1, 2, 2, 1, 3, 3, 3, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 681, "episode_id": "682", "scene_id": "V2XKFyX4ASd", "instruction": "Enter the door to the room with a lot of sofas. Go straight then left and head down past the TV. Stop at the corner at the door leading to the bathroom. ", "start_position": [2.6354000568389893, -2.8969039916992188, -6.720139980316162], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [7.207749843597412, -2.8969039916992188, 0.5534420013427734], "goal_radius": 3.0, "reference_path": "[[2.6354000568389893, -2.8969039916992188, -6.720139980316162], [-0.07153420150279999, -2.8969039916992188, -3.9784600734710693], [-0.002066009910777211, -2.8969039916992188, -2.0302700996398926], [2.1677699089050293, -2.8969039916992188, -0.5806300044059753], [4.141980171203613, -2.8969039916992188, -0.5140290260314941], [7.207749843597412, -2.8969039916992188, 0.5534420013427734]]", "geodesic_distance": 13.301313400268555, "gt_locations": "[[2.6354000568389893, -2.8969039916992188, -6.720139980316162], [2.4586234092712402, -2.8969039916992188, -6.543363094329834], [2.3336234092712402, -2.8969039916992188, -6.32685661315918], [2.156846761703491, -2.8969039916992188, -6.150079727172852], [1.9800701141357422, -2.8969039916992188, -5.973302841186523], [1.8032934665679932, -2.8969039916992188, -5.796525955200195], [1.6265168190002441, -2.8969039916992188, -5.619749069213867], [1.4497401714324951, -2.8969039916992188, -5.442972183227539], [1.272963523864746, -2.8969039916992188, -5.266195297241211], [1.096186876296997, -2.8969039916992188, -5.089418411254883], [0.9194101691246033, -2.8969039916992188, -4.912641525268555], [0.7426334619522095, -2.8969039916992188, -4.735864639282227], [0.5658567547798157, -2.8969039916992188, -4.559087753295898], [0.3890800476074219, -2.8969039916992188, -4.38231086730957], [0.17257368564605713, -2.8969039916992188, -4.25731086730957], [0.10786893218755722, -2.8969039916992188, -4.015829563140869], [0.04316417872905731, -2.8969039916992188, -3.774348020553589], [0.043164193630218506, -2.8969039916992188, -3.524348020553589], [0.0431642085313797, -2.8969039916992188, -3.274348020553589], [0.043164223432540894, -2.8969039916992188, -3.024348020553589], [0.04316423833370209, -2.8969039916992188, -2.774348020553589], [0.04316425323486328, -2.8969039916992188, -2.524348020553589], [0.043164268136024475, -2.8969039916992188, -2.274348020553589], [0.21994097530841827, -2.8969039916992188, -2.09757137298584], [0.3967176675796509, -2.8969039916992188, -1.9207947254180908], [0.5217176675796509, -2.8969039916992188, -1.704288363456726], [0.6984943747520447, -2.8969039916992188, -1.527511715888977], [0.8959686756134033, -2.8969039916992188, -1.3549317121505737], [1.163966178894043, -2.8969039916992188, -1.2829418182373047], [1.340742826461792, -2.8969039916992188, -1.1061650514602661], [1.5572491884231567, -2.8969039916992188, -0.9811650514602661], [1.7737555503845215, -2.8969039916992188, -0.8561650514602661], [2.0152370929718018, -2.8969039916992188, -0.7914602160453796], [2.256718635559082, -2.8969039916992188, -0.7267553806304932], [2.4982001781463623, -2.8969039916992188, -0.6620505452156067], [2.7482001781463623, -2.8969039916992188, -0.6620504856109619], [2.9982001781463623, -2.8969039916992188, -0.6620503664016724], [3.2482001781463623, -2.8969039916992188, -0.6620502471923828], [3.4982001781463623, -2.8969039916992188, -0.6620501279830933], [3.7396817207336426, -2.8969039916992188, -0.5973452925682068], [3.981163263320923, -2.8969039916992188, -0.5326404571533203], [4.222644805908203, -2.8969039916992188, -0.46793562173843384], [4.464126110076904, -2.8969039916992188, -0.40323078632354736], [4.7056074142456055, -2.8969039916992188, -0.3385259509086609], [4.947088718414307, -2.8969039916992188, -0.2738211154937744], [5.188570022583008, -2.8969039916992188, -0.20911628007888794], [5.430051326751709, -2.8969039916992188, -0.14441144466400146], [5.67153263092041, -2.8969039916992188, -0.07970660924911499], [5.913013935089111, -2.8969039916992188, -0.015001773834228516], [6.1544952392578125, -2.8969039916992188, 0.04970306158065796], [6.395976543426514, -2.8969039916992188, 0.11440789699554443], [6.637457847595215, -2.8969039916992188, 0.1791127324104309], [6.8655686378479, -2.8969039916992188, 0.3007972240447998]]", "gt_actions": "[3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 3, 1, 2, 1, 2, 1, 2, 2, 1, 3, 3, 3, 1, 2, 1, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 682, "episode_id": "683", "scene_id": "Uxmj2M2itWa", "instruction": "Head out of the bathroom and past the bed.  Turn right and go into the hallway.  Turn left and stop in front of the stove and refrigerator. ", "start_position": [-5.9270501136779785, 0.16246746480464935, -19.766014099121094], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.396739959716797, 0.005729019641876221, -25.651500701904297], "goal_radius": 3.0, "reference_path": "[[-5.9270501136779785, 0.16246746480464935, -19.766014099121094], [-5.55502986907959, 0.08190459758043289, -20.53809928894043], [-5.329520225524902, 0.005729019641876221, -21.44700050354004], [-4.689789772033691, 0.005729019641876221, -23.927600860595703], [-1.7727199792861938, 0.005729019641876221, -24.295900344848633], [-2.396739959716797, 0.005729019641876221, -25.651500701904297]]", "geodesic_distance": 7.343181133270264, "gt_locations": "[[-5.9270501136779785, 0.16246746480464935, -19.766014099121094], [-5.8020501136779785, 0.17060135304927826, -19.982521057128906], [-5.6770501136779785, 0.17873524129390717, -20.19902801513672], [-5.5520501136779785, 0.10244643688201904, -20.41553497314453], [-5.487345218658447, 0.037019893527030945, -20.65701675415039], [-5.422640323638916, 0.005729019641876221, -20.89849853515625], [-5.357935428619385, 0.005729019641876221, -21.13998031616211], [-5.2932305335998535, 0.005729019641876221, -21.38146209716797], [-5.228525638580322, 0.005729019641876221, -21.622943878173828], [-5.163820743560791, 0.005729019641876221, -21.864425659179688], [-5.09911584854126, 0.005729019641876221, -22.105907440185547], [-5.09911584854126, 0.005729019641876221, -22.355907440185547], [-5.09911584854126, 0.005729019641876221, -22.605907440185547], [-5.09911584854126, 0.005729019641876221, -22.855907440185547], [-5.0344109535217285, 0.005729019641876221, -23.097389221191406], [-4.969706058502197, 0.005729019641876221, -23.338871002197266], [-4.844706058502197, 0.005729019641876221, -23.555377960205078], [-4.603224754333496, 0.005729019641876221, -23.62008285522461], [-4.361743450164795, 0.005729019641876221, -23.68478775024414], [-4.120262145996094, 0.005729019641876221, -23.749492645263672], [-3.8787806034088135, 0.005729019641876221, -23.814197540283203], [-3.637299060821533, 0.005729019641876221, -23.878902435302734], [-3.395817518234253, 0.005729019641876221, -23.943607330322266], [-3.1543359756469727, 0.005729019641876221, -24.008312225341797], [-2.9128544330596924, 0.005729019641876221, -24.073017120361328], [-2.671372890472412, 0.005729019641876221, -24.13772201538086], [-2.429891347885132, 0.005729019641876221, -24.20242691040039], [-2.1884098052978516, 0.005729019641876221, -24.267131805419922], [-2.1884098052978516, 0.005729019641876221, -24.517131805419922], [-2.253114700317383, 0.005729019641876221, -24.75861358642578], [-2.317819595336914, 0.005729019641876221, -25.00009536743164], [-2.3825244903564453, 0.005729019641876221, -25.2415771484375]]", "gt_actions": "[3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 0]"}
{"id": 683, "episode_id": "684", "scene_id": "Uxmj2M2itWa", "instruction": "Exit through the bathroom door.  Continue straight and take a right after the bed.  Walk through the doorway and turn left.  Wait next to the refrigerator. ", "start_position": [-5.9270501136779785, 0.16246746480464935, -19.766014099121094], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.396739959716797, 0.005729019641876221, -25.651500701904297], "goal_radius": 3.0, "reference_path": "[[-5.9270501136779785, 0.16246746480464935, -19.766014099121094], [-5.55502986907959, 0.08190459758043289, -20.53809928894043], [-5.329520225524902, 0.005729019641876221, -21.44700050354004], [-4.689789772033691, 0.005729019641876221, -23.927600860595703], [-1.7727199792861938, 0.005729019641876221, -24.295900344848633], [-2.396739959716797, 0.005729019641876221, -25.651500701904297]]", "geodesic_distance": 7.343181133270264, "gt_locations": "[[-5.9270501136779785, 0.16246746480464935, -19.766014099121094], [-5.8020501136779785, 0.17060135304927826, -19.982521057128906], [-5.6770501136779785, 0.17873524129390717, -20.19902801513672], [-5.5520501136779785, 0.10244643688201904, -20.41553497314453], [-5.487345218658447, 0.037019893527030945, -20.65701675415039], [-5.422640323638916, 0.005729019641876221, -20.89849853515625], [-5.357935428619385, 0.005729019641876221, -21.13998031616211], [-5.2932305335998535, 0.005729019641876221, -21.38146209716797], [-5.228525638580322, 0.005729019641876221, -21.622943878173828], [-5.163820743560791, 0.005729019641876221, -21.864425659179688], [-5.09911584854126, 0.005729019641876221, -22.105907440185547], [-5.09911584854126, 0.005729019641876221, -22.355907440185547], [-5.09911584854126, 0.005729019641876221, -22.605907440185547], [-5.09911584854126, 0.005729019641876221, -22.855907440185547], [-5.0344109535217285, 0.005729019641876221, -23.097389221191406], [-4.969706058502197, 0.005729019641876221, -23.338871002197266], [-4.844706058502197, 0.005729019641876221, -23.555377960205078], [-4.603224754333496, 0.005729019641876221, -23.62008285522461], [-4.361743450164795, 0.005729019641876221, -23.68478775024414], [-4.120262145996094, 0.005729019641876221, -23.749492645263672], [-3.8787806034088135, 0.005729019641876221, -23.814197540283203], [-3.637299060821533, 0.005729019641876221, -23.878902435302734], [-3.395817518234253, 0.005729019641876221, -23.943607330322266], [-3.1543359756469727, 0.005729019641876221, -24.008312225341797], [-2.9128544330596924, 0.005729019641876221, -24.073017120361328], [-2.671372890472412, 0.005729019641876221, -24.13772201538086], [-2.429891347885132, 0.005729019641876221, -24.20242691040039], [-2.1884098052978516, 0.005729019641876221, -24.267131805419922], [-2.1884098052978516, 0.005729019641876221, -24.517131805419922], [-2.253114700317383, 0.005729019641876221, -24.75861358642578], [-2.317819595336914, 0.005729019641876221, -25.00009536743164], [-2.3825244903564453, 0.005729019641876221, -25.2415771484375]]", "gt_actions": "[3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 0]"}
{"id": 684, "episode_id": "685", "scene_id": "Uxmj2M2itWa", "instruction": "Leave the bathroom and go straight then right out of the bedroom. Go left a bit and stop in the kitchen. ", "start_position": [-5.9270501136779785, 0.16246746480464935, -19.766014099121094], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.396739959716797, 0.005729019641876221, -25.651500701904297], "goal_radius": 3.0, "reference_path": "[[-5.9270501136779785, 0.16246746480464935, -19.766014099121094], [-5.55502986907959, 0.08190459758043289, -20.53809928894043], [-5.329520225524902, 0.005729019641876221, -21.44700050354004], [-4.689789772033691, 0.005729019641876221, -23.927600860595703], [-1.7727199792861938, 0.005729019641876221, -24.295900344848633], [-2.396739959716797, 0.005729019641876221, -25.651500701904297]]", "geodesic_distance": 7.343181133270264, "gt_locations": "[[-5.9270501136779785, 0.16246746480464935, -19.766014099121094], [-5.8020501136779785, 0.17060135304927826, -19.982521057128906], [-5.6770501136779785, 0.17873524129390717, -20.19902801513672], [-5.5520501136779785, 0.10244643688201904, -20.41553497314453], [-5.487345218658447, 0.037019893527030945, -20.65701675415039], [-5.422640323638916, 0.005729019641876221, -20.89849853515625], [-5.357935428619385, 0.005729019641876221, -21.13998031616211], [-5.2932305335998535, 0.005729019641876221, -21.38146209716797], [-5.228525638580322, 0.005729019641876221, -21.622943878173828], [-5.163820743560791, 0.005729019641876221, -21.864425659179688], [-5.09911584854126, 0.005729019641876221, -22.105907440185547], [-5.09911584854126, 0.005729019641876221, -22.355907440185547], [-5.09911584854126, 0.005729019641876221, -22.605907440185547], [-5.09911584854126, 0.005729019641876221, -22.855907440185547], [-5.0344109535217285, 0.005729019641876221, -23.097389221191406], [-4.969706058502197, 0.005729019641876221, -23.338871002197266], [-4.844706058502197, 0.005729019641876221, -23.555377960205078], [-4.603224754333496, 0.005729019641876221, -23.62008285522461], [-4.361743450164795, 0.005729019641876221, -23.68478775024414], [-4.120262145996094, 0.005729019641876221, -23.749492645263672], [-3.8787806034088135, 0.005729019641876221, -23.814197540283203], [-3.637299060821533, 0.005729019641876221, -23.878902435302734], [-3.395817518234253, 0.005729019641876221, -23.943607330322266], [-3.1543359756469727, 0.005729019641876221, -24.008312225341797], [-2.9128544330596924, 0.005729019641876221, -24.073017120361328], [-2.671372890472412, 0.005729019641876221, -24.13772201538086], [-2.429891347885132, 0.005729019641876221, -24.20242691040039], [-2.1884098052978516, 0.005729019641876221, -24.267131805419922], [-2.1884098052978516, 0.005729019641876221, -24.517131805419922], [-2.253114700317383, 0.005729019641876221, -24.75861358642578], [-2.317819595336914, 0.005729019641876221, -25.00009536743164], [-2.3825244903564453, 0.005729019641876221, -25.2415771484375]]", "gt_actions": "[3, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 3, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 2, 1, 1, 1, 0]"}
{"id": 685, "episode_id": "686", "scene_id": "Uxmj2M2itWa", "instruction": "After you leave the office go to the bedroom on the right and across the room to leave. Once you leave the bedroom go to the end of the hall and make a left, walk thru the outside door and wait. 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{"id": 686, "episode_id": "687", "scene_id": "Uxmj2M2itWa", "instruction": "Turn slightly to the left and walk through the door towards a purple chair. Past the chair turn slightly to the left and walk past the bed towards a glass door. Walk through the door and turn to the left to face a red abstract sculpture. Walk to the red sculpture. 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{"id": 687, "episode_id": "688", "scene_id": "Uxmj2M2itWa", "instruction": "Walk forward and to the left of the partition. Walk straight towards the wall of windows and turn left Head straight past the bed and turn left at the closet. Walk through the doorway and take a hard left. Walk forward and wait at the doorway by the red sculpture. 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{"id": 688, "episode_id": "689", "scene_id": "gTV8FGcVJC9", "instruction": "Exit the bathroom, go past the bath and through the doorway, down the hall past the sink, past the doors, into the bedroom, and turn right to exit the bedroom. Stop at thte top of the stairs. ", "start_position": [-10.569100379943848, 3.456643581390381, 10.828300476074219], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-13.289899826049805, 3.456643581390381, 18.221599578857422], "goal_radius": 3.0, "reference_path": "[[-10.569100379943848, 3.456643581390381, 10.828300476074219], [-11.751500129699707, 3.478344202041626, 10.04800033569336], [-14.441100120544434, 3.456643581390381, 10.870800018310547], [-16.04640007019043, 3.456643581390381, 15.271599769592285], [-15.76550006866455, 3.456643581390381, 18.249000549316406], [-13.289899826049805, 3.456643581390381, 18.221599578857422]]", "geodesic_distance": 12.917425155639648, "gt_locations": "[[-10.569100379943848, 3.456643581390381, 10.828300476074219], [-10.810582160949707, 3.456643581390381, 10.763595581054688], [-11.027088165283203, 3.456643581390381, 10.638595581054688], [-11.2435941696167, 3.456643581390381, 10.513595581054688], [-11.420371055603027, 3.456643581390381, 10.33681869506836], [-11.670371055603027, 3.456643581390381, 10.33681869506836], [-11.920371055603027, 3.456643581390381, 10.33681869506836], [-12.170371055603027, 3.456643581390381, 10.33681869506836], [-12.420371055603027, 3.456643581390381, 10.33681869506836], [-12.661852836608887, 3.456643581390381, 10.40152359008789], [-12.903334617614746, 3.456643581390381, 10.466228485107422], [-13.144816398620605, 3.456643581390381, 10.530933380126953], [-13.386298179626465, 3.456643581390381, 10.595638275146484], [-13.627779960632324, 3.456643581390381, 10.660343170166016], [-13.869261741638184, 3.456643581390381, 10.725048065185547], [-14.110743522644043, 3.456643581390381, 10.789752960205078], [-14.235743522644043, 3.456643581390381, 11.006258964538574], [-14.360743522644043, 3.456643581390381, 11.22276496887207], [-14.485743522644043, 3.456643581390381, 11.439270973205566], [-14.610743522644043, 3.456643581390381, 11.655776977539062], [-14.735743522644043, 3.456643581390381, 11.872282981872559], [-14.860743522644043, 3.456643581390381, 12.088788986206055], [-14.985743522644043, 3.456643581390381, 12.30529499053955], [-15.110743522644043, 3.456643581390381, 12.521800994873047], [-15.235743522644043, 3.456643581390381, 12.738306999206543], [-15.2974214553833, 3.456643581390381, 12.988306999206543], [-15.362126350402832, 3.456643581390381, 13.229788780212402], [-15.426831245422363, 3.456643581390381, 13.471270561218262], [-15.491536140441895, 3.456643581390381, 13.712752342224121], [-15.556241035461426, 3.456643581390381, 13.95423412322998], [-15.620945930480957, 3.456643581390381, 14.19571590423584], [-15.685650825500488, 3.456643581390381, 14.4371976852417], [-15.75035572052002, 3.456643581390381, 14.678679466247559], [-15.87535572052002, 3.456643581390381, 14.895185470581055], [-15.87535572052002, 3.456643581390381, 15.145185470581055], [-15.87535572052002, 3.456643581390381, 15.395185470581055], [-15.87535572052002, 3.456643581390381, 15.645185470581055], [-15.87535572052002, 3.456643581390381, 15.895185470581055], [-15.87535572052002, 3.456643581390381, 16.145185470581055], [-15.87535572052002, 3.456643581390381, 16.395185470581055], [-15.87535572052002, 3.456643581390381, 16.645185470581055], [-15.87535572052002, 3.456643581390381, 16.895185470581055], [-15.87535572052002, 3.456643581390381, 17.145185470581055], [-15.87535572052002, 3.456643581390381, 17.395185470581055], [-15.87535572052002, 3.456643581390381, 17.645185470581055], [-15.810650825500488, 3.456643581390381, 17.886667251586914], [-15.569169044494629, 3.456643581390381, 17.951372146606445], [-15.32768726348877, 3.456643581390381, 18.016077041625977], [-15.08620548248291, 3.456643581390381, 18.080781936645508], [-14.83620548248291, 3.456643581390381, 18.080781936645508], [-14.58620548248291, 3.456643581390381, 18.080781936645508], [-14.33620548248291, 3.456643581390381, 18.080781936645508], [-14.08620548248291, 3.456643581390381, 18.080781936645508], [-13.84472370147705, 3.456643581390381, 18.14548683166504], [-13.603241920471191, 3.456643581390381, 18.21019172668457]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 3, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 689, "episode_id": "690", "scene_id": "gTV8FGcVJC9", "instruction": "Walk out of the bathroom and turn left. Walk through the room and into the bedroom. Walk left out of the bedroom and stop at the top of the stairs. ", "start_position": [-10.569100379943848, 3.456643581390381, 10.828300476074219], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-13.289899826049805, 3.456643581390381, 18.221599578857422], "goal_radius": 3.0, "reference_path": "[[-10.569100379943848, 3.456643581390381, 10.828300476074219], [-11.751500129699707, 3.478344202041626, 10.04800033569336], [-14.441100120544434, 3.456643581390381, 10.870800018310547], [-16.04640007019043, 3.456643581390381, 15.271599769592285], [-15.76550006866455, 3.456643581390381, 18.249000549316406], [-13.289899826049805, 3.456643581390381, 18.221599578857422]]", "geodesic_distance": 12.917425155639648, "gt_locations": "[[-10.569100379943848, 3.456643581390381, 10.828300476074219], [-10.810582160949707, 3.456643581390381, 10.763595581054688], [-11.027088165283203, 3.456643581390381, 10.638595581054688], [-11.2435941696167, 3.456643581390381, 10.513595581054688], [-11.420371055603027, 3.456643581390381, 10.33681869506836], [-11.670371055603027, 3.456643581390381, 10.33681869506836], [-11.920371055603027, 3.456643581390381, 10.33681869506836], [-12.170371055603027, 3.456643581390381, 10.33681869506836], [-12.420371055603027, 3.456643581390381, 10.33681869506836], [-12.661852836608887, 3.456643581390381, 10.40152359008789], [-12.903334617614746, 3.456643581390381, 10.466228485107422], [-13.144816398620605, 3.456643581390381, 10.530933380126953], [-13.386298179626465, 3.456643581390381, 10.595638275146484], [-13.627779960632324, 3.456643581390381, 10.660343170166016], [-13.869261741638184, 3.456643581390381, 10.725048065185547], [-14.110743522644043, 3.456643581390381, 10.789752960205078], [-14.235743522644043, 3.456643581390381, 11.006258964538574], [-14.360743522644043, 3.456643581390381, 11.22276496887207], [-14.485743522644043, 3.456643581390381, 11.439270973205566], [-14.610743522644043, 3.456643581390381, 11.655776977539062], [-14.735743522644043, 3.456643581390381, 11.872282981872559], [-14.860743522644043, 3.456643581390381, 12.088788986206055], [-14.985743522644043, 3.456643581390381, 12.30529499053955], [-15.110743522644043, 3.456643581390381, 12.521800994873047], [-15.235743522644043, 3.456643581390381, 12.738306999206543], [-15.2974214553833, 3.456643581390381, 12.988306999206543], [-15.362126350402832, 3.456643581390381, 13.229788780212402], [-15.426831245422363, 3.456643581390381, 13.471270561218262], [-15.491536140441895, 3.456643581390381, 13.712752342224121], [-15.556241035461426, 3.456643581390381, 13.95423412322998], [-15.620945930480957, 3.456643581390381, 14.19571590423584], [-15.685650825500488, 3.456643581390381, 14.4371976852417], [-15.75035572052002, 3.456643581390381, 14.678679466247559], [-15.87535572052002, 3.456643581390381, 14.895185470581055], [-15.87535572052002, 3.456643581390381, 15.145185470581055], [-15.87535572052002, 3.456643581390381, 15.395185470581055], [-15.87535572052002, 3.456643581390381, 15.645185470581055], [-15.87535572052002, 3.456643581390381, 15.895185470581055], [-15.87535572052002, 3.456643581390381, 16.145185470581055], [-15.87535572052002, 3.456643581390381, 16.395185470581055], [-15.87535572052002, 3.456643581390381, 16.645185470581055], [-15.87535572052002, 3.456643581390381, 16.895185470581055], [-15.87535572052002, 3.456643581390381, 17.145185470581055], [-15.87535572052002, 3.456643581390381, 17.395185470581055], [-15.87535572052002, 3.456643581390381, 17.645185470581055], [-15.810650825500488, 3.456643581390381, 17.886667251586914], [-15.569169044494629, 3.456643581390381, 17.951372146606445], [-15.32768726348877, 3.456643581390381, 18.016077041625977], [-15.08620548248291, 3.456643581390381, 18.080781936645508], [-14.83620548248291, 3.456643581390381, 18.080781936645508], [-14.58620548248291, 3.456643581390381, 18.080781936645508], [-14.33620548248291, 3.456643581390381, 18.080781936645508], [-14.08620548248291, 3.456643581390381, 18.080781936645508], [-13.84472370147705, 3.456643581390381, 18.14548683166504], [-13.603241920471191, 3.456643581390381, 18.21019172668457]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 3, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 690, "episode_id": "691", "scene_id": "gTV8FGcVJC9", "instruction": "Turn around and go through the door. Turn left and go through the leftmost doorway and continue passed the vanity towards the bedroom and turn left. Stop right at the stairs. ", "start_position": [-10.569100379943848, 3.456643581390381, 10.828300476074219], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-13.289899826049805, 3.456643581390381, 18.221599578857422], "goal_radius": 3.0, "reference_path": "[[-10.569100379943848, 3.456643581390381, 10.828300476074219], [-11.751500129699707, 3.478344202041626, 10.04800033569336], [-14.441100120544434, 3.456643581390381, 10.870800018310547], [-16.04640007019043, 3.456643581390381, 15.271599769592285], [-15.76550006866455, 3.456643581390381, 18.249000549316406], [-13.289899826049805, 3.456643581390381, 18.221599578857422]]", "geodesic_distance": 12.917425155639648, "gt_locations": "[[-10.569100379943848, 3.456643581390381, 10.828300476074219], [-10.810582160949707, 3.456643581390381, 10.763595581054688], [-11.027088165283203, 3.456643581390381, 10.638595581054688], [-11.2435941696167, 3.456643581390381, 10.513595581054688], [-11.420371055603027, 3.456643581390381, 10.33681869506836], [-11.670371055603027, 3.456643581390381, 10.33681869506836], [-11.920371055603027, 3.456643581390381, 10.33681869506836], [-12.170371055603027, 3.456643581390381, 10.33681869506836], [-12.420371055603027, 3.456643581390381, 10.33681869506836], [-12.661852836608887, 3.456643581390381, 10.40152359008789], [-12.903334617614746, 3.456643581390381, 10.466228485107422], [-13.144816398620605, 3.456643581390381, 10.530933380126953], [-13.386298179626465, 3.456643581390381, 10.595638275146484], [-13.627779960632324, 3.456643581390381, 10.660343170166016], [-13.869261741638184, 3.456643581390381, 10.725048065185547], [-14.110743522644043, 3.456643581390381, 10.789752960205078], [-14.235743522644043, 3.456643581390381, 11.006258964538574], [-14.360743522644043, 3.456643581390381, 11.22276496887207], [-14.485743522644043, 3.456643581390381, 11.439270973205566], [-14.610743522644043, 3.456643581390381, 11.655776977539062], [-14.735743522644043, 3.456643581390381, 11.872282981872559], [-14.860743522644043, 3.456643581390381, 12.088788986206055], [-14.985743522644043, 3.456643581390381, 12.30529499053955], [-15.110743522644043, 3.456643581390381, 12.521800994873047], [-15.235743522644043, 3.456643581390381, 12.738306999206543], [-15.2974214553833, 3.456643581390381, 12.988306999206543], [-15.362126350402832, 3.456643581390381, 13.229788780212402], [-15.426831245422363, 3.456643581390381, 13.471270561218262], [-15.491536140441895, 3.456643581390381, 13.712752342224121], [-15.556241035461426, 3.456643581390381, 13.95423412322998], [-15.620945930480957, 3.456643581390381, 14.19571590423584], [-15.685650825500488, 3.456643581390381, 14.4371976852417], [-15.75035572052002, 3.456643581390381, 14.678679466247559], [-15.87535572052002, 3.456643581390381, 14.895185470581055], [-15.87535572052002, 3.456643581390381, 15.145185470581055], [-15.87535572052002, 3.456643581390381, 15.395185470581055], [-15.87535572052002, 3.456643581390381, 15.645185470581055], [-15.87535572052002, 3.456643581390381, 15.895185470581055], [-15.87535572052002, 3.456643581390381, 16.145185470581055], [-15.87535572052002, 3.456643581390381, 16.395185470581055], [-15.87535572052002, 3.456643581390381, 16.645185470581055], [-15.87535572052002, 3.456643581390381, 16.895185470581055], [-15.87535572052002, 3.456643581390381, 17.145185470581055], [-15.87535572052002, 3.456643581390381, 17.395185470581055], [-15.87535572052002, 3.456643581390381, 17.645185470581055], [-15.810650825500488, 3.456643581390381, 17.886667251586914], [-15.569169044494629, 3.456643581390381, 17.951372146606445], [-15.32768726348877, 3.456643581390381, 18.016077041625977], [-15.08620548248291, 3.456643581390381, 18.080781936645508], [-14.83620548248291, 3.456643581390381, 18.080781936645508], [-14.58620548248291, 3.456643581390381, 18.080781936645508], [-14.33620548248291, 3.456643581390381, 18.080781936645508], [-14.08620548248291, 3.456643581390381, 18.080781936645508], [-13.84472370147705, 3.456643581390381, 18.14548683166504], [-13.603241920471191, 3.456643581390381, 18.21019172668457]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 3, 1, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 2, 2, 2, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 0]"}
{"id": 691, "episode_id": "692", "scene_id": "5LpN3gDmAk7", "instruction": "Go inside and exit the bedroom. Walk into the hall and pass the large painting. Stop in the bedroom. ", "start_position": [-1.475250005722046, 2.9156501293182373, 1.6384400129318237], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.166319847106934, 3.115649938583374, 9.192919731140137], "goal_radius": 3.0, "reference_path": "[[-1.475250005722046, 2.9156501293182373, 1.6384400129318237], [-0.6725599765777588, 3.0697519779205322, 1.571429967880249], [1.668280005455017, 3.115649938583374, 2.978209972381592], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.166319847106934, 3.115649938583374, 9.192919731140137]]", "geodesic_distance": 13.039380073547363, "gt_locations": "[[-1.475250005722046, 2.9156501293182373, 1.6384400129318237], [-1.225250005722046, 2.9156501293182373, 1.6384400129318237], [-0.9752500057220459, 2.9156501293182373, 1.6384400129318237], [-0.7337685227394104, 3.0482871532440186, 1.573735237121582], [-0.4922870397567749, 3.115649938583374, 1.5090304613113403], [-0.27578067779541016, 3.115649938583374, 1.3840304613113403], [-0.05927431583404541, 3.115649938583374, 1.2590304613113403], [0.15723204612731934, 3.115649938583374, 1.1340304613113403], [0.3737384080886841, 3.115649938583374, 1.0090304613113403], [0.6237384080886841, 3.115649938583374, 1.0090304613113403], [0.8259873390197754, 3.1941521167755127, 1.1740374565124512], [1.0424937009811401, 3.115649938583374, 1.2990374565124512], [1.097485065460205, 3.115649938583374, 1.5490374565124512], [1.222485065460205, 3.115649938583374, 1.765543818473816], [1.2871898412704468, 3.115649938583374, 2.0070252418518066], [1.3518946170806885, 3.115649938583374, 2.248506546020508], [1.4165993928909302, 3.115649938583374, 2.489987850189209], [1.5415995121002197, 3.115649938583374, 2.706494092941284], [1.6665995121002197, 3.115649938583374, 2.9230003356933594], [1.7915995121002197, 3.115649938583374, 3.1395065784454346], [1.9165995121002197, 3.115649938583374, 3.3560128211975098], [2.0415995121002197, 3.115649938583374, 3.572519063949585], [2.1665995121002197, 3.115649938583374, 3.78902530670166], [2.2915995121002197, 3.115649938583374, 4.0055317878723145], [2.4683761596679688, 3.115649938583374, 4.182308197021484], [2.5933761596679688, 3.115649938583374, 4.398814678192139], [2.7183761596679688, 3.115649938583374, 4.615321159362793], [2.8433761596679688, 3.115649938583374, 4.831827640533447], [2.9683761596679688, 3.115649938583374, 5.048334121704102], [3.0933761596679688, 3.115649938583374, 5.264840602874756], [3.2183761596679688, 3.115649938583374, 5.48134708404541], [3.3433761596679688, 3.115649938583374, 5.6978535652160645], [3.4683761596679688, 3.115649938583374, 5.914360046386719], [3.5933761596679688, 3.115649938583374, 6.130866527557373], [3.7183761596679688, 3.115649938583374, 6.347373008728027], [3.822425603866577, 3.115649938583374, 6.5809855461120605], [3.8871304988861084, 3.115649938583374, 6.822466850280762], [4.0121307373046875, 3.115649938583374, 7.038973331451416], [4.188907623291016, 3.115649938583374, 7.215750217437744], [4.365684509277344, 3.115649938583374, 7.392527103424072], [4.542461395263672, 3.115649938583374, 7.5693039894104], [4.71923828125, 3.115649938583374, 7.7460808753967285], [4.896015167236328, 3.115649938583374, 7.922857761383057], [5.021015167236328, 3.115649938583374, 8.139364242553711], [5.146015167236328, 3.115649938583374, 8.355870246887207], [5.362521648406982, 3.115649938583374, 8.480870246887207], [5.579028129577637, 3.115649938583374, 8.605870246887207], [5.795534610748291, 3.115649938583374, 8.730870246887207], [5.972311496734619, 3.115649938583374, 8.907647132873535], [6.21379280090332, 3.115649938583374, 8.972352027893066], [6.4552741050720215, 3.115649938583374, 9.037056922912598], [6.696755409240723, 3.115649938583374, 9.101761817932129]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 3, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 0]"}
{"id": 692, "episode_id": "693", "scene_id": "5LpN3gDmAk7", "instruction": "Enter the house and walk around the chair to the open door on your right. Walk through the open door just to the left of the stairs. Walk to the end of the hall and turn left. Enter the bedroom and wait by the fireplace. ", "start_position": [-1.475250005722046, 2.9156501293182373, 1.6384400129318237], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.166319847106934, 3.115649938583374, 9.192919731140137], "goal_radius": 3.0, "reference_path": "[[-1.475250005722046, 2.9156501293182373, 1.6384400129318237], [-0.6725599765777588, 3.0697519779205322, 1.571429967880249], [1.668280005455017, 3.115649938583374, 2.978209972381592], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.166319847106934, 3.115649938583374, 9.192919731140137]]", "geodesic_distance": 13.039380073547363, "gt_locations": "[[-1.475250005722046, 2.9156501293182373, 1.6384400129318237], [-1.225250005722046, 2.9156501293182373, 1.6384400129318237], [-0.9752500057220459, 2.9156501293182373, 1.6384400129318237], [-0.7337685227394104, 3.0482871532440186, 1.573735237121582], [-0.4922870397567749, 3.115649938583374, 1.5090304613113403], [-0.27578067779541016, 3.115649938583374, 1.3840304613113403], [-0.05927431583404541, 3.115649938583374, 1.2590304613113403], [0.15723204612731934, 3.115649938583374, 1.1340304613113403], [0.3737384080886841, 3.115649938583374, 1.0090304613113403], [0.6237384080886841, 3.115649938583374, 1.0090304613113403], [0.8259873390197754, 3.1941521167755127, 1.1740374565124512], [1.0424937009811401, 3.115649938583374, 1.2990374565124512], [1.097485065460205, 3.115649938583374, 1.5490374565124512], [1.222485065460205, 3.115649938583374, 1.765543818473816], [1.2871898412704468, 3.115649938583374, 2.0070252418518066], [1.3518946170806885, 3.115649938583374, 2.248506546020508], [1.4165993928909302, 3.115649938583374, 2.489987850189209], [1.5415995121002197, 3.115649938583374, 2.706494092941284], [1.6665995121002197, 3.115649938583374, 2.9230003356933594], [1.7915995121002197, 3.115649938583374, 3.1395065784454346], [1.9165995121002197, 3.115649938583374, 3.3560128211975098], [2.0415995121002197, 3.115649938583374, 3.572519063949585], [2.1665995121002197, 3.115649938583374, 3.78902530670166], [2.2915995121002197, 3.115649938583374, 4.0055317878723145], [2.4683761596679688, 3.115649938583374, 4.182308197021484], [2.5933761596679688, 3.115649938583374, 4.398814678192139], [2.7183761596679688, 3.115649938583374, 4.615321159362793], [2.8433761596679688, 3.115649938583374, 4.831827640533447], [2.9683761596679688, 3.115649938583374, 5.048334121704102], [3.0933761596679688, 3.115649938583374, 5.264840602874756], [3.2183761596679688, 3.115649938583374, 5.48134708404541], [3.3433761596679688, 3.115649938583374, 5.6978535652160645], [3.4683761596679688, 3.115649938583374, 5.914360046386719], [3.5933761596679688, 3.115649938583374, 6.130866527557373], [3.7183761596679688, 3.115649938583374, 6.347373008728027], [3.822425603866577, 3.115649938583374, 6.5809855461120605], [3.8871304988861084, 3.115649938583374, 6.822466850280762], [4.0121307373046875, 3.115649938583374, 7.038973331451416], [4.188907623291016, 3.115649938583374, 7.215750217437744], [4.365684509277344, 3.115649938583374, 7.392527103424072], [4.542461395263672, 3.115649938583374, 7.5693039894104], [4.71923828125, 3.115649938583374, 7.7460808753967285], [4.896015167236328, 3.115649938583374, 7.922857761383057], [5.021015167236328, 3.115649938583374, 8.139364242553711], [5.146015167236328, 3.115649938583374, 8.355870246887207], [5.362521648406982, 3.115649938583374, 8.480870246887207], [5.579028129577637, 3.115649938583374, 8.605870246887207], [5.795534610748291, 3.115649938583374, 8.730870246887207], [5.972311496734619, 3.115649938583374, 8.907647132873535], [6.21379280090332, 3.115649938583374, 8.972352027893066], [6.4552741050720215, 3.115649938583374, 9.037056922912598], [6.696755409240723, 3.115649938583374, 9.101761817932129]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 3, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 0]"}
{"id": 693, "episode_id": "694", "scene_id": "5LpN3gDmAk7", "instruction": "Go through the door, around the chair, and through the door on the right. Go through the door on the left of the stairway. Turn the corner to the room and stop. ", "start_position": [-1.475250005722046, 2.9156501293182373, 1.6384400129318237], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [7.166319847106934, 3.115649938583374, 9.192919731140137], "goal_radius": 3.0, "reference_path": "[[-1.475250005722046, 2.9156501293182373, 1.6384400129318237], [-0.6725599765777588, 3.0697519779205322, 1.571429967880249], [1.668280005455017, 3.115649938583374, 2.978209972381592], [2.7670700550079346, 3.115649938583374, 4.563129901885986], [4.221680164337158, 3.115649938583374, 7.486420154571533], [6.20911979675293, 3.115649938583374, 9.096659660339355], [7.166319847106934, 3.115649938583374, 9.192919731140137]]", "geodesic_distance": 13.039380073547363, "gt_locations": "[[-1.475250005722046, 2.9156501293182373, 1.6384400129318237], [-1.225250005722046, 2.9156501293182373, 1.6384400129318237], [-0.9752500057220459, 2.9156501293182373, 1.6384400129318237], [-0.7337685227394104, 3.0482871532440186, 1.573735237121582], [-0.4922870397567749, 3.115649938583374, 1.5090304613113403], [-0.27578067779541016, 3.115649938583374, 1.3840304613113403], [-0.05927431583404541, 3.115649938583374, 1.2590304613113403], [0.15723204612731934, 3.115649938583374, 1.1340304613113403], [0.3737384080886841, 3.115649938583374, 1.0090304613113403], [0.6237384080886841, 3.115649938583374, 1.0090304613113403], [0.8259873390197754, 3.1941521167755127, 1.1740374565124512], [1.0424937009811401, 3.115649938583374, 1.2990374565124512], [1.097485065460205, 3.115649938583374, 1.5490374565124512], [1.222485065460205, 3.115649938583374, 1.765543818473816], [1.2871898412704468, 3.115649938583374, 2.0070252418518066], [1.3518946170806885, 3.115649938583374, 2.248506546020508], [1.4165993928909302, 3.115649938583374, 2.489987850189209], [1.5415995121002197, 3.115649938583374, 2.706494092941284], [1.6665995121002197, 3.115649938583374, 2.9230003356933594], [1.7915995121002197, 3.115649938583374, 3.1395065784454346], [1.9165995121002197, 3.115649938583374, 3.3560128211975098], [2.0415995121002197, 3.115649938583374, 3.572519063949585], [2.1665995121002197, 3.115649938583374, 3.78902530670166], [2.2915995121002197, 3.115649938583374, 4.0055317878723145], [2.4683761596679688, 3.115649938583374, 4.182308197021484], [2.5933761596679688, 3.115649938583374, 4.398814678192139], [2.7183761596679688, 3.115649938583374, 4.615321159362793], [2.8433761596679688, 3.115649938583374, 4.831827640533447], [2.9683761596679688, 3.115649938583374, 5.048334121704102], [3.0933761596679688, 3.115649938583374, 5.264840602874756], [3.2183761596679688, 3.115649938583374, 5.48134708404541], [3.3433761596679688, 3.115649938583374, 5.6978535652160645], [3.4683761596679688, 3.115649938583374, 5.914360046386719], [3.5933761596679688, 3.115649938583374, 6.130866527557373], [3.7183761596679688, 3.115649938583374, 6.347373008728027], [3.822425603866577, 3.115649938583374, 6.5809855461120605], [3.8871304988861084, 3.115649938583374, 6.822466850280762], [4.0121307373046875, 3.115649938583374, 7.038973331451416], [4.188907623291016, 3.115649938583374, 7.215750217437744], [4.365684509277344, 3.115649938583374, 7.392527103424072], [4.542461395263672, 3.115649938583374, 7.5693039894104], [4.71923828125, 3.115649938583374, 7.7460808753967285], [4.896015167236328, 3.115649938583374, 7.922857761383057], [5.021015167236328, 3.115649938583374, 8.139364242553711], [5.146015167236328, 3.115649938583374, 8.355870246887207], [5.362521648406982, 3.115649938583374, 8.480870246887207], [5.579028129577637, 3.115649938583374, 8.605870246887207], [5.795534610748291, 3.115649938583374, 8.730870246887207], [5.972311496734619, 3.115649938583374, 8.907647132873535], [6.21379280090332, 3.115649938583374, 8.972352027893066], [6.4552741050720215, 3.115649938583374, 9.037056922912598], [6.696755409240723, 3.115649938583374, 9.101761817932129]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 3, 3, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 3, 3, 3, 1, 2, 2, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 0]"}
{"id": 694, "episode_id": "695", "scene_id": "B6ByNegPMKs", "instruction": "Go left down the hallway toward the exit sign. Turn right and go down the hallway. Go into the door on the left and stop by the table. ", "start_position": [50.94770050048828, 0.08020400255918503, 21.33690071105957], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [44.53350067138672, 0.08020400255918503, 16.876800537109375], "goal_radius": 3.0, "reference_path": "[[50.94770050048828, 0.08020400255918503, 21.33690071105957], [50.19449996948242, 0.08020400255918503, 21.17140007019043], [48.73059844970703, 0.08020400255918503, 21.12660026550293], [46.93330001831055, 0.08020400255918503, 21.20870018005371], [45.95009994506836, 0.08020400255918503, 17.706600189208984], [45.90019989013672, 0.08020400255918503, 16.440200805664062], [44.53350067138672, 0.08020400255918503, 16.876800537109375]]", "geodesic_distance": 9.160045623779297, "gt_locations": "[[50.94770050048828, 0.08020400255918503, 21.33690071105957], [50.70621871948242, 0.08020400255918503, 21.27219581604004], [50.46473693847656, 0.08020400255918503, 21.207490921020508], [50.21473693847656, 0.08020400255918503, 21.207490921020508], [49.96473693847656, 0.08020400255918503, 21.207490921020508], [49.71473693847656, 0.08020400255918503, 21.207490921020508], [49.46473693847656, 0.08020400255918503, 21.207490921020508], [49.21473693847656, 0.08020400255918503, 21.207490921020508], [48.96473693847656, 0.08020400255918503, 21.207490921020508], [48.71473693847656, 0.08020400255918503, 21.207490921020508], [48.46473693847656, 0.08020400255918503, 21.207490921020508], [48.21473693847656, 0.08020400255918503, 21.207490921020508], [47.96473693847656, 0.08020400255918503, 21.207490921020508], [47.71473693847656, 0.08020400255918503, 21.207490921020508], [47.46473693847656, 0.08020400255918503, 21.207490921020508], [47.21473693847656, 0.08020400255918503, 21.207490921020508], [47.037960052490234, 0.08020400255918503, 21.03071403503418], [46.861183166503906, 0.08020400255918503, 20.85393714904785], [46.68440628051758, 0.08020400255918503, 20.677160263061523], [46.563697814941406, 0.08020400255918503, 20.443679809570312], [46.498992919921875, 0.08020400255918503, 20.202198028564453], [46.434288024902344, 0.08020400255918503, 19.960716247558594], [46.36958312988281, 0.08020400255918503, 19.719234466552734], [46.30487823486328, 0.08020400255918503, 19.477752685546875], [46.24017333984375, 0.08020400255918503, 19.236270904541016], [46.17546844482422, 0.08020400255918503, 18.994789123535156], [46.11076354980469, 0.08020400255918503, 18.753307342529297], [46.046058654785156, 0.08020400255918503, 18.511825561523438], [45.981353759765625, 0.08020400255918503, 18.270343780517578], [45.981353759765625, 0.08020400255918503, 18.020343780517578], [45.981353759765625, 0.08020400255918503, 17.770343780517578], [45.981353759765625, 0.08020400255918503, 17.520343780517578], [45.981353759765625, 0.08020400255918503, 17.270343780517578], [45.981353759765625, 0.08020400255918503, 17.020343780517578], [45.981353759765625, 0.08020400255918503, 16.770343780517578], [45.731353759765625, 0.08020400255918503, 16.770343780517578], [45.481353759765625, 0.08020400255918503, 16.770343780517578], [45.231353759765625, 0.08020400255918503, 16.770343780517578], [44.981353759765625, 0.08020400255918503, 16.770343780517578]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 695, "episode_id": "696", "scene_id": "B6ByNegPMKs", "instruction": "Walk down the hall towards the exit sign and turn right. Walk into the first door on the left and stop. ", "start_position": [50.94770050048828, 0.08020400255918503, 21.33690071105957], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [44.53350067138672, 0.08020400255918503, 16.876800537109375], "goal_radius": 3.0, "reference_path": "[[50.94770050048828, 0.08020400255918503, 21.33690071105957], [50.19449996948242, 0.08020400255918503, 21.17140007019043], [48.73059844970703, 0.08020400255918503, 21.12660026550293], [46.93330001831055, 0.08020400255918503, 21.20870018005371], [45.95009994506836, 0.08020400255918503, 17.706600189208984], [45.90019989013672, 0.08020400255918503, 16.440200805664062], [44.53350067138672, 0.08020400255918503, 16.876800537109375]]", "geodesic_distance": 9.160045623779297, "gt_locations": "[[50.94770050048828, 0.08020400255918503, 21.33690071105957], [50.70621871948242, 0.08020400255918503, 21.27219581604004], [50.46473693847656, 0.08020400255918503, 21.207490921020508], [50.21473693847656, 0.08020400255918503, 21.207490921020508], [49.96473693847656, 0.08020400255918503, 21.207490921020508], [49.71473693847656, 0.08020400255918503, 21.207490921020508], [49.46473693847656, 0.08020400255918503, 21.207490921020508], [49.21473693847656, 0.08020400255918503, 21.207490921020508], [48.96473693847656, 0.08020400255918503, 21.207490921020508], [48.71473693847656, 0.08020400255918503, 21.207490921020508], [48.46473693847656, 0.08020400255918503, 21.207490921020508], [48.21473693847656, 0.08020400255918503, 21.207490921020508], [47.96473693847656, 0.08020400255918503, 21.207490921020508], [47.71473693847656, 0.08020400255918503, 21.207490921020508], [47.46473693847656, 0.08020400255918503, 21.207490921020508], [47.21473693847656, 0.08020400255918503, 21.207490921020508], [47.037960052490234, 0.08020400255918503, 21.03071403503418], [46.861183166503906, 0.08020400255918503, 20.85393714904785], [46.68440628051758, 0.08020400255918503, 20.677160263061523], [46.563697814941406, 0.08020400255918503, 20.443679809570312], [46.498992919921875, 0.08020400255918503, 20.202198028564453], [46.434288024902344, 0.08020400255918503, 19.960716247558594], [46.36958312988281, 0.08020400255918503, 19.719234466552734], [46.30487823486328, 0.08020400255918503, 19.477752685546875], [46.24017333984375, 0.08020400255918503, 19.236270904541016], [46.17546844482422, 0.08020400255918503, 18.994789123535156], [46.11076354980469, 0.08020400255918503, 18.753307342529297], [46.046058654785156, 0.08020400255918503, 18.511825561523438], [45.981353759765625, 0.08020400255918503, 18.270343780517578], [45.981353759765625, 0.08020400255918503, 18.020343780517578], [45.981353759765625, 0.08020400255918503, 17.770343780517578], [45.981353759765625, 0.08020400255918503, 17.520343780517578], [45.981353759765625, 0.08020400255918503, 17.270343780517578], [45.981353759765625, 0.08020400255918503, 17.020343780517578], [45.981353759765625, 0.08020400255918503, 16.770343780517578], [45.731353759765625, 0.08020400255918503, 16.770343780517578], [45.481353759765625, 0.08020400255918503, 16.770343780517578], [45.231353759765625, 0.08020400255918503, 16.770343780517578], [44.981353759765625, 0.08020400255918503, 16.770343780517578]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 696, "episode_id": "697", "scene_id": "B6ByNegPMKs", "instruction": "Walk straight towards the exit sign.  Turn right at the hallway intersection. Turn left into the first room.  Wait by the table. ", "start_position": [50.94770050048828, 0.08020400255918503, 21.33690071105957], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [44.53350067138672, 0.08020400255918503, 16.876800537109375], "goal_radius": 3.0, "reference_path": "[[50.94770050048828, 0.08020400255918503, 21.33690071105957], [50.19449996948242, 0.08020400255918503, 21.17140007019043], [48.73059844970703, 0.08020400255918503, 21.12660026550293], [46.93330001831055, 0.08020400255918503, 21.20870018005371], [45.95009994506836, 0.08020400255918503, 17.706600189208984], [45.90019989013672, 0.08020400255918503, 16.440200805664062], [44.53350067138672, 0.08020400255918503, 16.876800537109375]]", "geodesic_distance": 9.160045623779297, "gt_locations": "[[50.94770050048828, 0.08020400255918503, 21.33690071105957], [50.70621871948242, 0.08020400255918503, 21.27219581604004], [50.46473693847656, 0.08020400255918503, 21.207490921020508], [50.21473693847656, 0.08020400255918503, 21.207490921020508], [49.96473693847656, 0.08020400255918503, 21.207490921020508], [49.71473693847656, 0.08020400255918503, 21.207490921020508], [49.46473693847656, 0.08020400255918503, 21.207490921020508], [49.21473693847656, 0.08020400255918503, 21.207490921020508], [48.96473693847656, 0.08020400255918503, 21.207490921020508], [48.71473693847656, 0.08020400255918503, 21.207490921020508], [48.46473693847656, 0.08020400255918503, 21.207490921020508], [48.21473693847656, 0.08020400255918503, 21.207490921020508], [47.96473693847656, 0.08020400255918503, 21.207490921020508], [47.71473693847656, 0.08020400255918503, 21.207490921020508], [47.46473693847656, 0.08020400255918503, 21.207490921020508], [47.21473693847656, 0.08020400255918503, 21.207490921020508], [47.037960052490234, 0.08020400255918503, 21.03071403503418], [46.861183166503906, 0.08020400255918503, 20.85393714904785], [46.68440628051758, 0.08020400255918503, 20.677160263061523], [46.563697814941406, 0.08020400255918503, 20.443679809570312], [46.498992919921875, 0.08020400255918503, 20.202198028564453], [46.434288024902344, 0.08020400255918503, 19.960716247558594], [46.36958312988281, 0.08020400255918503, 19.719234466552734], [46.30487823486328, 0.08020400255918503, 19.477752685546875], [46.24017333984375, 0.08020400255918503, 19.236270904541016], [46.17546844482422, 0.08020400255918503, 18.994789123535156], [46.11076354980469, 0.08020400255918503, 18.753307342529297], [46.046058654785156, 0.08020400255918503, 18.511825561523438], [45.981353759765625, 0.08020400255918503, 18.270343780517578], [45.981353759765625, 0.08020400255918503, 18.020343780517578], [45.981353759765625, 0.08020400255918503, 17.770343780517578], [45.981353759765625, 0.08020400255918503, 17.520343780517578], [45.981353759765625, 0.08020400255918503, 17.270343780517578], [45.981353759765625, 0.08020400255918503, 17.020343780517578], [45.981353759765625, 0.08020400255918503, 16.770343780517578], [45.731353759765625, 0.08020400255918503, 16.770343780517578], [45.481353759765625, 0.08020400255918503, 16.770343780517578], [45.231353759765625, 0.08020400255918503, 16.770343780517578], [44.981353759765625, 0.08020400255918503, 16.770343780517578]]", "gt_actions": "[2, 2, 2, 2, 2, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 0]"}
{"id": 697, "episode_id": "698", "scene_id": "e9zR4mvMWw7", "instruction": "Turn and from the door on the right wall from the perspective of the front door. Enter and go ahead towards the middle of the kitchen. ", "start_position": [10.746600151062012, 0.08669400215148926, -1.8581299781799316], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [14.341899871826172, 0.08669400215148926, 0.44320300221443176], "goal_radius": 3.0, "reference_path": "[[10.746600151062012, 0.08669400215148926, -1.8581299781799316], [10.847599983215332, 0.08669400215148926, -0.3217819929122925], [11.531499862670898, 0.08669400215148926, 1.3606200218200684], [12.72920036315918, 0.08669400215148926, 1.2347099781036377], [14.341899871826172, 0.08669400215148926, 0.44320300221443176]]", "geodesic_distance": 5.9343037605285645, "gt_locations": "[[10.746600151062012, 0.08669400215148926, -1.8581299781799316], [10.746600151062012, 0.08669400215148926, -1.6081299781799316], [10.746600151062012, 0.14095883071422577, -1.3581299781799316], [10.746600151062012, 0.20450200140476227, -1.1081299781799316], [10.746600151062012, 0.16593588888645172, -0.8581299781799316], [10.811305046081543, 0.12896281480789185, -0.6166484951972961], [10.876009941101074, 0.09198976308107376, -0.37516701221466064], [10.940714836120605, 0.08669400215148926, -0.13368552923202515], [11.005419731140137, 0.08669400215148926, 0.10779595375061035], [11.070124626159668, 0.08669400215148926, 0.34927743673324585], [11.1348295211792, 0.08669400215148926, 0.5907589197158813], [11.285348892211914, 0.08669400215148926, 0.8200505375862122], [11.350053787231445, 0.08669400215148926, 1.061531901359558], [11.591535568237305, 0.08669400215148926, 1.1262366771697998], [11.833017349243164, 0.08669400215148926, 1.190941572189331], [12.083017349243164, 0.08669400215148926, 1.190941572189331], [12.333017349243164, 0.08669400215148926, 1.190941572189331], [12.574499130249023, 0.08669400215148926, 1.1262367963790894], [12.815980911254883, 0.08669400215148926, 1.0615320205688477], [13.057462692260742, 0.08669400215148926, 0.9968273043632507], [13.298944473266602, 0.08669400215148926, 0.9321225881576538], [13.540426254272461, 0.08669400215148926, 0.8674178719520569], [13.756932258605957, 0.08669400215148926, 0.7424179315567017], [13.973438262939453, 0.08669400215148926, 0.6174179315567017]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 3, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 698, "episode_id": "699", "scene_id": "e9zR4mvMWw7", "instruction": "Turn left and go into the room. Then turn left and go behind the kitchen table and stop in front of the range. ", "start_position": [10.746600151062012, 0.08669400215148926, -1.8581299781799316], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [14.341899871826172, 0.08669400215148926, 0.44320300221443176], "goal_radius": 3.0, "reference_path": "[[10.746600151062012, 0.08669400215148926, -1.8581299781799316], [10.847599983215332, 0.08669400215148926, -0.3217819929122925], [11.531499862670898, 0.08669400215148926, 1.3606200218200684], [12.72920036315918, 0.08669400215148926, 1.2347099781036377], [14.341899871826172, 0.08669400215148926, 0.44320300221443176]]", "geodesic_distance": 5.9343037605285645, "gt_locations": "[[10.746600151062012, 0.08669400215148926, -1.8581299781799316], [10.746600151062012, 0.08669400215148926, -1.6081299781799316], [10.746600151062012, 0.14095883071422577, -1.3581299781799316], [10.746600151062012, 0.20450200140476227, -1.1081299781799316], [10.746600151062012, 0.16593588888645172, -0.8581299781799316], [10.811305046081543, 0.12896281480789185, -0.6166484951972961], [10.876009941101074, 0.09198976308107376, -0.37516701221466064], [10.940714836120605, 0.08669400215148926, -0.13368552923202515], [11.005419731140137, 0.08669400215148926, 0.10779595375061035], [11.070124626159668, 0.08669400215148926, 0.34927743673324585], [11.1348295211792, 0.08669400215148926, 0.5907589197158813], [11.285348892211914, 0.08669400215148926, 0.8200505375862122], [11.350053787231445, 0.08669400215148926, 1.061531901359558], [11.591535568237305, 0.08669400215148926, 1.1262366771697998], [11.833017349243164, 0.08669400215148926, 1.190941572189331], [12.083017349243164, 0.08669400215148926, 1.190941572189331], [12.333017349243164, 0.08669400215148926, 1.190941572189331], [12.574499130249023, 0.08669400215148926, 1.1262367963790894], [12.815980911254883, 0.08669400215148926, 1.0615320205688477], [13.057462692260742, 0.08669400215148926, 0.9968273043632507], [13.298944473266602, 0.08669400215148926, 0.9321225881576538], [13.540426254272461, 0.08669400215148926, 0.8674178719520569], [13.756932258605957, 0.08669400215148926, 0.7424179315567017], [13.973438262939453, 0.08669400215148926, 0.6174179315567017]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 3, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 699, "episode_id": "700", "scene_id": "e9zR4mvMWw7", "instruction": "From the stairs turn left and walk through the second doorway from the left. Walk left past the dining room table and stop just inside the kitchen. ", "start_position": [10.746600151062012, 0.08669400215148926, -1.8581299781799316], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [14.341899871826172, 0.08669400215148926, 0.44320300221443176], "goal_radius": 3.0, "reference_path": "[[10.746600151062012, 0.08669400215148926, -1.8581299781799316], [10.847599983215332, 0.08669400215148926, -0.3217819929122925], [11.531499862670898, 0.08669400215148926, 1.3606200218200684], [12.72920036315918, 0.08669400215148926, 1.2347099781036377], [14.341899871826172, 0.08669400215148926, 0.44320300221443176]]", "geodesic_distance": 5.9343037605285645, "gt_locations": "[[10.746600151062012, 0.08669400215148926, -1.8581299781799316], [10.746600151062012, 0.08669400215148926, -1.6081299781799316], [10.746600151062012, 0.14095883071422577, -1.3581299781799316], [10.746600151062012, 0.20450200140476227, -1.1081299781799316], [10.746600151062012, 0.16593588888645172, -0.8581299781799316], [10.811305046081543, 0.12896281480789185, -0.6166484951972961], [10.876009941101074, 0.09198976308107376, -0.37516701221466064], [10.940714836120605, 0.08669400215148926, -0.13368552923202515], [11.005419731140137, 0.08669400215148926, 0.10779595375061035], [11.070124626159668, 0.08669400215148926, 0.34927743673324585], [11.1348295211792, 0.08669400215148926, 0.5907589197158813], [11.285348892211914, 0.08669400215148926, 0.8200505375862122], [11.350053787231445, 0.08669400215148926, 1.061531901359558], [11.591535568237305, 0.08669400215148926, 1.1262366771697998], [11.833017349243164, 0.08669400215148926, 1.190941572189331], [12.083017349243164, 0.08669400215148926, 1.190941572189331], [12.333017349243164, 0.08669400215148926, 1.190941572189331], [12.574499130249023, 0.08669400215148926, 1.1262367963790894], [12.815980911254883, 0.08669400215148926, 1.0615320205688477], [13.057462692260742, 0.08669400215148926, 0.9968273043632507], [13.298944473266602, 0.08669400215148926, 0.9321225881576538], [13.540426254272461, 0.08669400215148926, 0.8674178719520569], [13.756932258605957, 0.08669400215148926, 0.7424179315567017], [13.973438262939453, 0.08669400215148926, 0.6174179315567017]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 2, 2, 1, 3, 3, 1, 2, 2, 2, 2, 1, 1, 2, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 700, "episode_id": "701", "scene_id": "e9zR4mvMWw7", "instruction": "Turn and walk along the outer edge of the grey leather couch.  Once you reach the end of the couch keep walking forward until you are standing in front of the white table in the middle of the room.   Then, turn to the left, facing an open white door leading to a room with black tile flooring.  Walk through that door, take two steps into the room and stop on the black tile looking at the sink in the corner of the room. ", "start_position": [19.571199417114258, 0.08669400215148926, 1.1798299551010132], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [14.965200424194336, 0.08669400215148926, 4.672029972076416], "goal_radius": 3.0, "reference_path": "[[19.571199417114258, 0.08669400215148926, 1.1798299551010132], [16.632600784301758, 0.08669400215148926, 1.5699599981307983], [15.796699523925781, 0.08669400215148926, 2.3164401054382324], [14.714200019836426, 0.08669400215148926, 3.1124401092529297], [14.965200424194336, 0.08669400215148926, 4.672029972076416]]", "geodesic_distance": 6.573784828186035, "gt_locations": "[[19.571199417114258, 0.08669400215148926, 1.1798299551010132], [19.321199417114258, 0.08669400215148926, 1.1798299551010132], [19.071199417114258, 0.08669400215148926, 1.1798299551010132], [18.821199417114258, 0.08669400215148926, 1.1798299551010132], [18.571199417114258, 0.08669400215148926, 1.1798299551010132], [18.321199417114258, 0.08669400215148926, 1.1798299551010132], [18.071199417114258, 0.08669400215148926, 1.1798299551010132], [17.821199417114258, 0.08669400215148926, 1.1798299551010132], [17.5797176361084, 0.08669400215148926, 1.2445347309112549], [17.33823585510254, 0.08669400215148926, 1.3092395067214966], [17.09675407409668, 0.08669400215148926, 1.3739442825317383], [16.85527229309082, 0.08669400215148926, 1.43864905834198], [16.638765335083008, 0.08669400215148926, 1.56364905834198], [16.46198844909668, 0.08669400215148926, 1.7404258251190186], [16.28521156311035, 0.08669400215148926, 1.9172025918960571], [16.108434677124023, 0.08669400215148926, 2.0939793586730957], [15.931657791137695, 0.08669400215148926, 2.2707560062408447], [15.7151517868042, 0.08669400215148926, 2.3957560062408447], [15.498645782470703, 0.08669400215148926, 2.5207560062408447], [15.282139778137207, 0.08669400215148926, 2.6457560062408447], [15.105362892150879, 0.08669400215148926, 2.8225326538085938], [15.040657997131348, 0.08669400215148926, 3.064013957977295], [14.975953102111816, 0.08669400215148926, 3.305495262145996], [14.975953102111816, 0.08669400215148926, 3.555495262145996], [14.97003173828125, 0.08669400215148926, 3.805495262145996], [14.97003173828125, 0.08669400215148926, 4.055495262145996], [14.97003173828125, 0.08669400215148926, 4.305495262145996]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 701, "episode_id": "702", "scene_id": "e9zR4mvMWw7", "instruction": "Walk past the couch, towards the white table, and go through the doorway. Turn left into room with sink and wait. ", "start_position": [19.571199417114258, 0.08669400215148926, 1.1798299551010132], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [14.965200424194336, 0.08669400215148926, 4.672029972076416], "goal_radius": 3.0, "reference_path": "[[19.571199417114258, 0.08669400215148926, 1.1798299551010132], [16.632600784301758, 0.08669400215148926, 1.5699599981307983], [15.796699523925781, 0.08669400215148926, 2.3164401054382324], [14.714200019836426, 0.08669400215148926, 3.1124401092529297], [14.965200424194336, 0.08669400215148926, 4.672029972076416]]", "geodesic_distance": 6.573784828186035, "gt_locations": "[[19.571199417114258, 0.08669400215148926, 1.1798299551010132], [19.321199417114258, 0.08669400215148926, 1.1798299551010132], [19.071199417114258, 0.08669400215148926, 1.1798299551010132], [18.821199417114258, 0.08669400215148926, 1.1798299551010132], [18.571199417114258, 0.08669400215148926, 1.1798299551010132], [18.321199417114258, 0.08669400215148926, 1.1798299551010132], [18.071199417114258, 0.08669400215148926, 1.1798299551010132], [17.821199417114258, 0.08669400215148926, 1.1798299551010132], [17.5797176361084, 0.08669400215148926, 1.2445347309112549], [17.33823585510254, 0.08669400215148926, 1.3092395067214966], [17.09675407409668, 0.08669400215148926, 1.3739442825317383], [16.85527229309082, 0.08669400215148926, 1.43864905834198], [16.638765335083008, 0.08669400215148926, 1.56364905834198], [16.46198844909668, 0.08669400215148926, 1.7404258251190186], [16.28521156311035, 0.08669400215148926, 1.9172025918960571], [16.108434677124023, 0.08669400215148926, 2.0939793586730957], [15.931657791137695, 0.08669400215148926, 2.2707560062408447], [15.7151517868042, 0.08669400215148926, 2.3957560062408447], [15.498645782470703, 0.08669400215148926, 2.5207560062408447], [15.282139778137207, 0.08669400215148926, 2.6457560062408447], [15.105362892150879, 0.08669400215148926, 2.8225326538085938], [15.040657997131348, 0.08669400215148926, 3.064013957977295], [14.975953102111816, 0.08669400215148926, 3.305495262145996], [14.975953102111816, 0.08669400215148926, 3.555495262145996], [14.97003173828125, 0.08669400215148926, 3.805495262145996], [14.97003173828125, 0.08669400215148926, 4.055495262145996], [14.97003173828125, 0.08669400215148926, 4.305495262145996]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 702, "episode_id": "703", "scene_id": "e9zR4mvMWw7", "instruction": "Go past the couch and enter the door on the left. ", "start_position": [19.571199417114258, 0.08669400215148926, 1.1798299551010132], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [14.965200424194336, 0.08669400215148926, 4.672029972076416], "goal_radius": 3.0, "reference_path": "[[19.571199417114258, 0.08669400215148926, 1.1798299551010132], [16.632600784301758, 0.08669400215148926, 1.5699599981307983], [15.796699523925781, 0.08669400215148926, 2.3164401054382324], [14.714200019836426, 0.08669400215148926, 3.1124401092529297], [14.965200424194336, 0.08669400215148926, 4.672029972076416]]", "geodesic_distance": 6.573784828186035, "gt_locations": "[[19.571199417114258, 0.08669400215148926, 1.1798299551010132], [19.321199417114258, 0.08669400215148926, 1.1798299551010132], [19.071199417114258, 0.08669400215148926, 1.1798299551010132], [18.821199417114258, 0.08669400215148926, 1.1798299551010132], [18.571199417114258, 0.08669400215148926, 1.1798299551010132], [18.321199417114258, 0.08669400215148926, 1.1798299551010132], [18.071199417114258, 0.08669400215148926, 1.1798299551010132], [17.821199417114258, 0.08669400215148926, 1.1798299551010132], [17.5797176361084, 0.08669400215148926, 1.2445347309112549], [17.33823585510254, 0.08669400215148926, 1.3092395067214966], [17.09675407409668, 0.08669400215148926, 1.3739442825317383], [16.85527229309082, 0.08669400215148926, 1.43864905834198], [16.638765335083008, 0.08669400215148926, 1.56364905834198], [16.46198844909668, 0.08669400215148926, 1.7404258251190186], [16.28521156311035, 0.08669400215148926, 1.9172025918960571], [16.108434677124023, 0.08669400215148926, 2.0939793586730957], [15.931657791137695, 0.08669400215148926, 2.2707560062408447], [15.7151517868042, 0.08669400215148926, 2.3957560062408447], [15.498645782470703, 0.08669400215148926, 2.5207560062408447], [15.282139778137207, 0.08669400215148926, 2.6457560062408447], [15.105362892150879, 0.08669400215148926, 2.8225326538085938], [15.040657997131348, 0.08669400215148926, 3.064013957977295], [14.975953102111816, 0.08669400215148926, 3.305495262145996], [14.975953102111816, 0.08669400215148926, 3.555495262145996], [14.97003173828125, 0.08669400215148926, 3.805495262145996], [14.97003173828125, 0.08669400215148926, 4.055495262145996], [14.97003173828125, 0.08669400215148926, 4.305495262145996]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 2, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 703, "episode_id": "704", "scene_id": "ac26ZMwG7aT", "instruction": "Exit the bathroom through the door into the hallway.  Turn left and go down the hallway as far as you can, passing by a door on your right hand side.  When you reach the end of the hallway there is a painting of two men, turn left and walk forward to the opening of the kitchen.  Locate the corner of the island without chairs and stop 2 feet from that corner looking into the kitchen. ", "start_position": [4.00285005569458, 0.13922199606895447, -1.8503400087356567], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-4.289259910583496, 0.13922199606895447, 5.848330020904541], "goal_radius": 3.0, "reference_path": "[[4.00285005569458, 0.13922199606895447, -1.8503400087356567], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [-0.14353600144386292, 0.09494519233703613, -0.03969850018620491], [-4.905149936676025, 0.13922199606895447, 4.000460147857666], [-4.289259910583496, 0.13922199606895447, 5.848330020904541]]", "geodesic_distance": 12.88987922668457, "gt_locations": "[[4.00285005569458, 0.13922199606895447, -1.8503400087356567], [3.826073408126831, 0.13922199606895447, -2.0271167755126953], [3.701073408126831, 0.13922199606895447, -2.2436230182647705], [3.576073408126831, 0.13922199606895447, -2.4601292610168457], [3.451073408126831, 0.13922199606895447, -2.676635503768921], [3.234567165374756, 0.13922199606895447, -2.551635503768921], [3.0180609226226807, 0.13922199606895447, -2.426635503768921], [2.8015546798706055, 0.13922199606895447, -2.301635503768921], [2.5850484371185303, 0.13922199606895447, -2.176635503768921], [2.368542194366455, 0.13922199606895447, -2.051635503768921], [2.15203595161438, 0.13922199606895447, -1.926635503768921], [1.9355295896530151, 0.13922199606895447, -1.801635503768921], [1.7587529420852661, 0.13922199606895447, -1.6248587369918823], [1.581976294517517, 0.13922199606895447, -1.4480819702148438], [1.405199646949768, 0.13922199606895447, -1.2713052034378052], [1.228422999382019, 0.13012480735778809, -1.0945284366607666], [1.05164635181427, 0.11026227474212646, -0.917751669883728], [0.874869704246521, 0.09039971232414246, -0.7409749031066895], [0.6583633422851562, 0.0739557296037674, -0.6159747838973999], [0.4418569803237915, 0.05874515324831009, -0.49097469449043274], [0.22535061836242676, 0.06795574724674225, -0.3659746050834656], [0.04857392609119415, 0.08052653074264526, -0.189197838306427], [-0.12820276618003845, 0.09309731423854828, -0.012421071529388428], [-0.30497944355010986, 0.1056680828332901, 0.16435569524765015], [-0.48175615072250366, 0.11823886632919312, 0.3411324620246887], [-0.6585328578948975, 0.13080963492393494, 0.5179092288017273], [-0.8353095650672913, 0.13922199606895447, 0.6946859955787659], [-1.012086272239685, 0.13922199606895447, 0.8714627623558044], [-1.188862919807434, 0.13922199606895447, 1.0482394695281982], [-1.365639567375183, 0.13922199606895447, 1.2250162363052368], [-1.5424162149429321, 0.13922199606895447, 1.4017930030822754], [-1.7191928625106812, 0.13922199606895447, 1.578569769859314], [-1.8959695100784302, 0.13922199606895447, 1.7553465366363525], [-2.0727462768554688, 0.13922199606895447, 1.9321233034133911], [-2.2495229244232178, 0.13922199606895447, 2.1089000701904297], [-2.426299571990967, 0.13922199606895447, 2.285676956176758], [-2.642805814743042, 0.13922199606895447, 2.410676956176758], [-2.859312057495117, 0.13922199606895447, 2.535676956176758], [-3.0758183002471924, 0.13922199606895447, 2.660676956176758], [-3.2923245429992676, 0.13922199606895447, 2.785676956176758], [-3.5088307857513428, 0.13922199606895447, 2.910676956176758], [-3.725337028503418, 0.13922199606895447, 3.035676956176758], [-3.941843271255493, 0.13922199606895447, 3.160676956176758], [-4.118619918823242, 0.13922199606895447, 3.337453842163086], [-4.29539680480957, 0.13922199606895447, 3.514230728149414], [-4.472173690795898, 0.13922199606895447, 3.691007614135742], [-4.688680171966553, 0.13922199606895447, 3.816007614135742], [-4.688680171966553, 0.13922199606895447, 4.066007614135742], [-4.635803699493408, 0.13922199606895447, 4.327591419219971], [-4.571098804473877, 0.13922199606895447, 4.569072723388672], [-4.506393909454346, 0.13922199606895447, 4.810554027557373], [-4.4416890144348145, 0.13922199606895447, 5.052035331726074], [-4.376984119415283, 0.13922199606895447, 5.293516635894775], [-4.312279224395752, 0.13922199606895447, 5.534997940063477]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 704, "episode_id": "705", "scene_id": "ac26ZMwG7aT", "instruction": "Exit the bathroom, walk down the hall and stop in the kitchen. ", "start_position": [4.00285005569458, 0.13922199606895447, -1.8503400087356567], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-4.289259910583496, 0.13922199606895447, 5.848330020904541], "goal_radius": 3.0, "reference_path": "[[4.00285005569458, 0.13922199606895447, -1.8503400087356567], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [-0.14353600144386292, 0.09494519233703613, -0.03969850018620491], [-4.905149936676025, 0.13922199606895447, 4.000460147857666], [-4.289259910583496, 0.13922199606895447, 5.848330020904541]]", "geodesic_distance": 12.88987922668457, "gt_locations": "[[4.00285005569458, 0.13922199606895447, -1.8503400087356567], [3.826073408126831, 0.13922199606895447, -2.0271167755126953], [3.701073408126831, 0.13922199606895447, -2.2436230182647705], [3.576073408126831, 0.13922199606895447, -2.4601292610168457], [3.451073408126831, 0.13922199606895447, -2.676635503768921], [3.234567165374756, 0.13922199606895447, -2.551635503768921], [3.0180609226226807, 0.13922199606895447, -2.426635503768921], [2.8015546798706055, 0.13922199606895447, -2.301635503768921], [2.5850484371185303, 0.13922199606895447, -2.176635503768921], [2.368542194366455, 0.13922199606895447, -2.051635503768921], [2.15203595161438, 0.13922199606895447, -1.926635503768921], [1.9355295896530151, 0.13922199606895447, -1.801635503768921], [1.7587529420852661, 0.13922199606895447, -1.6248587369918823], [1.581976294517517, 0.13922199606895447, -1.4480819702148438], [1.405199646949768, 0.13922199606895447, -1.2713052034378052], [1.228422999382019, 0.13012480735778809, -1.0945284366607666], [1.05164635181427, 0.11026227474212646, -0.917751669883728], [0.874869704246521, 0.09039971232414246, -0.7409749031066895], [0.6583633422851562, 0.0739557296037674, -0.6159747838973999], [0.4418569803237915, 0.05874515324831009, -0.49097469449043274], [0.22535061836242676, 0.06795574724674225, -0.3659746050834656], [0.04857392609119415, 0.08052653074264526, -0.189197838306427], [-0.12820276618003845, 0.09309731423854828, -0.012421071529388428], [-0.30497944355010986, 0.1056680828332901, 0.16435569524765015], [-0.48175615072250366, 0.11823886632919312, 0.3411324620246887], [-0.6585328578948975, 0.13080963492393494, 0.5179092288017273], [-0.8353095650672913, 0.13922199606895447, 0.6946859955787659], [-1.012086272239685, 0.13922199606895447, 0.8714627623558044], [-1.188862919807434, 0.13922199606895447, 1.0482394695281982], [-1.365639567375183, 0.13922199606895447, 1.2250162363052368], [-1.5424162149429321, 0.13922199606895447, 1.4017930030822754], [-1.7191928625106812, 0.13922199606895447, 1.578569769859314], [-1.8959695100784302, 0.13922199606895447, 1.7553465366363525], [-2.0727462768554688, 0.13922199606895447, 1.9321233034133911], [-2.2495229244232178, 0.13922199606895447, 2.1089000701904297], [-2.426299571990967, 0.13922199606895447, 2.285676956176758], [-2.642805814743042, 0.13922199606895447, 2.410676956176758], [-2.859312057495117, 0.13922199606895447, 2.535676956176758], [-3.0758183002471924, 0.13922199606895447, 2.660676956176758], [-3.2923245429992676, 0.13922199606895447, 2.785676956176758], [-3.5088307857513428, 0.13922199606895447, 2.910676956176758], [-3.725337028503418, 0.13922199606895447, 3.035676956176758], [-3.941843271255493, 0.13922199606895447, 3.160676956176758], [-4.118619918823242, 0.13922199606895447, 3.337453842163086], [-4.29539680480957, 0.13922199606895447, 3.514230728149414], [-4.472173690795898, 0.13922199606895447, 3.691007614135742], [-4.688680171966553, 0.13922199606895447, 3.816007614135742], [-4.688680171966553, 0.13922199606895447, 4.066007614135742], [-4.635803699493408, 0.13922199606895447, 4.327591419219971], [-4.571098804473877, 0.13922199606895447, 4.569072723388672], [-4.506393909454346, 0.13922199606895447, 4.810554027557373], [-4.4416890144348145, 0.13922199606895447, 5.052035331726074], [-4.376984119415283, 0.13922199606895447, 5.293516635894775], [-4.312279224395752, 0.13922199606895447, 5.534997940063477]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 705, "episode_id": "706", "scene_id": "ac26ZMwG7aT", "instruction": "Exit through the bathroom door.  Turn left, and walk straight down the hallway.  When you reach the end of the hallway turn left into the kitchen area. Wait by the counter top. ", "start_position": [4.00285005569458, 0.13922199606895447, -1.8503400087356567], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-4.289259910583496, 0.13922199606895447, 5.848330020904541], "goal_radius": 3.0, "reference_path": "[[4.00285005569458, 0.13922199606895447, -1.8503400087356567], [3.2633299827575684, 0.13922199606895447, -2.868839979171753], [-0.14353600144386292, 0.09494519233703613, -0.03969850018620491], [-4.905149936676025, 0.13922199606895447, 4.000460147857666], [-4.289259910583496, 0.13922199606895447, 5.848330020904541]]", "geodesic_distance": 12.88987922668457, "gt_locations": "[[4.00285005569458, 0.13922199606895447, -1.8503400087356567], [3.826073408126831, 0.13922199606895447, -2.0271167755126953], [3.701073408126831, 0.13922199606895447, -2.2436230182647705], [3.576073408126831, 0.13922199606895447, -2.4601292610168457], [3.451073408126831, 0.13922199606895447, -2.676635503768921], [3.234567165374756, 0.13922199606895447, -2.551635503768921], [3.0180609226226807, 0.13922199606895447, -2.426635503768921], [2.8015546798706055, 0.13922199606895447, -2.301635503768921], [2.5850484371185303, 0.13922199606895447, -2.176635503768921], [2.368542194366455, 0.13922199606895447, -2.051635503768921], [2.15203595161438, 0.13922199606895447, -1.926635503768921], [1.9355295896530151, 0.13922199606895447, -1.801635503768921], [1.7587529420852661, 0.13922199606895447, -1.6248587369918823], [1.581976294517517, 0.13922199606895447, -1.4480819702148438], [1.405199646949768, 0.13922199606895447, -1.2713052034378052], [1.228422999382019, 0.13012480735778809, -1.0945284366607666], [1.05164635181427, 0.11026227474212646, -0.917751669883728], [0.874869704246521, 0.09039971232414246, -0.7409749031066895], [0.6583633422851562, 0.0739557296037674, -0.6159747838973999], [0.4418569803237915, 0.05874515324831009, -0.49097469449043274], [0.22535061836242676, 0.06795574724674225, -0.3659746050834656], [0.04857392609119415, 0.08052653074264526, -0.189197838306427], [-0.12820276618003845, 0.09309731423854828, -0.012421071529388428], [-0.30497944355010986, 0.1056680828332901, 0.16435569524765015], [-0.48175615072250366, 0.11823886632919312, 0.3411324620246887], [-0.6585328578948975, 0.13080963492393494, 0.5179092288017273], [-0.8353095650672913, 0.13922199606895447, 0.6946859955787659], [-1.012086272239685, 0.13922199606895447, 0.8714627623558044], [-1.188862919807434, 0.13922199606895447, 1.0482394695281982], [-1.365639567375183, 0.13922199606895447, 1.2250162363052368], [-1.5424162149429321, 0.13922199606895447, 1.4017930030822754], [-1.7191928625106812, 0.13922199606895447, 1.578569769859314], [-1.8959695100784302, 0.13922199606895447, 1.7553465366363525], [-2.0727462768554688, 0.13922199606895447, 1.9321233034133911], [-2.2495229244232178, 0.13922199606895447, 2.1089000701904297], [-2.426299571990967, 0.13922199606895447, 2.285676956176758], [-2.642805814743042, 0.13922199606895447, 2.410676956176758], [-2.859312057495117, 0.13922199606895447, 2.535676956176758], [-3.0758183002471924, 0.13922199606895447, 2.660676956176758], [-3.2923245429992676, 0.13922199606895447, 2.785676956176758], [-3.5088307857513428, 0.13922199606895447, 2.910676956176758], [-3.725337028503418, 0.13922199606895447, 3.035676956176758], [-3.941843271255493, 0.13922199606895447, 3.160676956176758], [-4.118619918823242, 0.13922199606895447, 3.337453842163086], [-4.29539680480957, 0.13922199606895447, 3.514230728149414], [-4.472173690795898, 0.13922199606895447, 3.691007614135742], [-4.688680171966553, 0.13922199606895447, 3.816007614135742], [-4.688680171966553, 0.13922199606895447, 4.066007614135742], [-4.635803699493408, 0.13922199606895447, 4.327591419219971], [-4.571098804473877, 0.13922199606895447, 4.569072723388672], [-4.506393909454346, 0.13922199606895447, 4.810554027557373], [-4.4416890144348145, 0.13922199606895447, 5.052035331726074], [-4.376984119415283, 0.13922199606895447, 5.293516635894775], [-4.312279224395752, 0.13922199606895447, 5.534997940063477]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 2, 2, 2, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 706, "episode_id": "707", "scene_id": "i5noydFURQK", "instruction": "Exit the laundry room. Turn left and take the first right. Go forward and stop near the green chair. ", "start_position": [3.9736099243164062, 0.18682312965393066, 8.969650268554688], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [2.3468101024627686, 0.18682312965393066, 2.9964098930358887], "goal_radius": 3.0, "reference_path": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9335899353027344, 0.18682312965393066, 7.197939872741699], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [2.445770025253296, 0.18682312965393066, 4.285590171813965], [2.3468101024627686, 0.18682312965393066, 2.9964098930358887]]", "geodesic_distance": 6.2649054527282715, "gt_locations": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9736099243164062, 0.18682312965393066, 8.719650268554688], [3.9736099243164062, 0.18682312965393066, 8.469650268554688], [3.9736099243164062, 0.18682312965393066, 8.219650268554688], [3.908905267715454, 0.18682312965393066, 7.978168964385986], [3.908905267715454, 0.18682312965393066, 7.728168964385986], [3.908905267715454, 0.18682312965393066, 7.478168964385986], [3.692399024963379, 0.18682312965393066, 7.353168964385986], [3.4509174823760986, 0.18682312965393066, 7.288464069366455], [3.2094359397888184, 0.18682312965393066, 7.223759174346924], [2.967954397201538, 0.18682312965393066, 7.159054279327393], [2.726472854614258, 0.18682312965393066, 7.094349384307861], [2.6617681980133057, 0.18682312965393066, 6.85286808013916], [2.6617681980133057, 0.18682312965393066, 6.60286808013916], [2.6617681980133057, 0.18682312965393066, 6.35286808013916], [2.6617681980133057, 0.18682312965393066, 6.10286808013916], [2.6617681980133057, 0.18682312965393066, 5.85286808013916], [2.6617681980133057, 0.18682312965393066, 5.60286808013916], [2.6617681980133057, 0.18682312965393066, 5.35286808013916], [2.5970635414123535, 0.18682312965393066, 5.111386775970459], [2.5323588848114014, 0.18682312965393066, 4.869905471801758], [2.467654228210449, 0.18682312965393066, 4.628424167633057], [2.467654228210449, 0.18682312965393066, 4.378424167633057], [2.467654228210449, 0.18682312965393066, 4.128424167633057], [2.467654228210449, 0.18682312965393066, 3.8784241676330566], [2.467654228210449, 0.18682312965393066, 3.6284241676330566], [2.402949571609497, 0.18682312965393066, 3.3869426250457764]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 707, "episode_id": "708", "scene_id": "i5noydFURQK", "instruction": "Exit the laundry room and turn left. Walk down the hall, pass the cupboards, and pass the bedroom. Go to the room at the end of the hall and stop. ", "start_position": [3.9736099243164062, 0.18682312965393066, 8.969650268554688], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [2.3468101024627686, 0.18682312965393066, 2.9964098930358887], "goal_radius": 3.0, "reference_path": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9335899353027344, 0.18682312965393066, 7.197939872741699], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [2.445770025253296, 0.18682312965393066, 4.285590171813965], [2.3468101024627686, 0.18682312965393066, 2.9964098930358887]]", "geodesic_distance": 6.2649054527282715, "gt_locations": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9736099243164062, 0.18682312965393066, 8.719650268554688], [3.9736099243164062, 0.18682312965393066, 8.469650268554688], [3.9736099243164062, 0.18682312965393066, 8.219650268554688], [3.908905267715454, 0.18682312965393066, 7.978168964385986], [3.908905267715454, 0.18682312965393066, 7.728168964385986], [3.908905267715454, 0.18682312965393066, 7.478168964385986], [3.692399024963379, 0.18682312965393066, 7.353168964385986], [3.4509174823760986, 0.18682312965393066, 7.288464069366455], [3.2094359397888184, 0.18682312965393066, 7.223759174346924], [2.967954397201538, 0.18682312965393066, 7.159054279327393], [2.726472854614258, 0.18682312965393066, 7.094349384307861], [2.6617681980133057, 0.18682312965393066, 6.85286808013916], [2.6617681980133057, 0.18682312965393066, 6.60286808013916], [2.6617681980133057, 0.18682312965393066, 6.35286808013916], [2.6617681980133057, 0.18682312965393066, 6.10286808013916], [2.6617681980133057, 0.18682312965393066, 5.85286808013916], [2.6617681980133057, 0.18682312965393066, 5.60286808013916], [2.6617681980133057, 0.18682312965393066, 5.35286808013916], [2.5970635414123535, 0.18682312965393066, 5.111386775970459], [2.5323588848114014, 0.18682312965393066, 4.869905471801758], [2.467654228210449, 0.18682312965393066, 4.628424167633057], [2.467654228210449, 0.18682312965393066, 4.378424167633057], [2.467654228210449, 0.18682312965393066, 4.128424167633057], [2.467654228210449, 0.18682312965393066, 3.8784241676330566], [2.467654228210449, 0.18682312965393066, 3.6284241676330566], [2.402949571609497, 0.18682312965393066, 3.3869426250457764]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 708, "episode_id": "709", "scene_id": "i5noydFURQK", "instruction": "Exit the laundry room into the hallway and turn left. Take the next right and continue walking until stopping at the doorway straight ahead. ", "start_position": [3.9736099243164062, 0.18682312965393066, 8.969650268554688], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [2.3468101024627686, 0.18682312965393066, 2.9964098930358887], "goal_radius": 3.0, "reference_path": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9335899353027344, 0.18682312965393066, 7.197939872741699], [2.474090099334717, 0.18682312965393066, 7.061550140380859], [2.562079906463623, 0.18682312965393066, 5.367010116577148], [2.445770025253296, 0.18682312965393066, 4.285590171813965], [2.3468101024627686, 0.18682312965393066, 2.9964098930358887]]", "geodesic_distance": 6.2649054527282715, "gt_locations": "[[3.9736099243164062, 0.18682312965393066, 8.969650268554688], [3.9736099243164062, 0.18682312965393066, 8.719650268554688], [3.9736099243164062, 0.18682312965393066, 8.469650268554688], [3.9736099243164062, 0.18682312965393066, 8.219650268554688], [3.908905267715454, 0.18682312965393066, 7.978168964385986], [3.908905267715454, 0.18682312965393066, 7.728168964385986], [3.908905267715454, 0.18682312965393066, 7.478168964385986], [3.692399024963379, 0.18682312965393066, 7.353168964385986], [3.4509174823760986, 0.18682312965393066, 7.288464069366455], [3.2094359397888184, 0.18682312965393066, 7.223759174346924], [2.967954397201538, 0.18682312965393066, 7.159054279327393], [2.726472854614258, 0.18682312965393066, 7.094349384307861], [2.6617681980133057, 0.18682312965393066, 6.85286808013916], [2.6617681980133057, 0.18682312965393066, 6.60286808013916], [2.6617681980133057, 0.18682312965393066, 6.35286808013916], [2.6617681980133057, 0.18682312965393066, 6.10286808013916], [2.6617681980133057, 0.18682312965393066, 5.85286808013916], [2.6617681980133057, 0.18682312965393066, 5.60286808013916], [2.6617681980133057, 0.18682312965393066, 5.35286808013916], [2.5970635414123535, 0.18682312965393066, 5.111386775970459], [2.5323588848114014, 0.18682312965393066, 4.869905471801758], [2.467654228210449, 0.18682312965393066, 4.628424167633057], [2.467654228210449, 0.18682312965393066, 4.378424167633057], [2.467654228210449, 0.18682312965393066, 4.128424167633057], [2.467654228210449, 0.18682312965393066, 3.8784241676330566], [2.467654228210449, 0.18682312965393066, 3.6284241676330566], [2.402949571609497, 0.18682312965393066, 3.3869426250457764]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 2, 1, 3, 1, 1, 2, 2, 2, 2, 1, 2, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 0]"}
{"id": 709, "episode_id": "710", "scene_id": "1LXtFkjw3qL", "instruction": "Walk past the chairs and up the stairs. Go down the hall and stop in the bathroom. ", "start_position": [0.3709160089492798, -2.915588855743408, 8.971349716186523], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [0.7933760285377502, -2.31558895111084, -2.709290027618408], "goal_radius": 3.0, "reference_path": "[[0.3709160089492798, -2.915588855743408, 8.971349716186523], [-0.4800280034542084, -2.915588855743408, 7.4665398597717285], [-0.7604010105133057, -2.915588855743408, 5.620200157165527], [-0.5281929969787598, -2.7784829139709473, 3.817840099334717], [0.08128730207681656, -2.31558895111084, 2.300879955291748], [0.9003250002861023, -2.31558895111084, -1.2901500463485718], [0.7933760285377502, -2.31558895111084, -2.709290027618408]]", "geodesic_distance": 11.855269432067871, "gt_locations": "[[0.3709160089492798, -2.915588855743408, 8.971349716186523], [0.2459159940481186, -2.915588855743408, 8.754843711853027], [0.06913930177688599, -2.915588855743408, 8.5780668258667], [-0.05586071312427521, -2.915588855743408, 8.361560821533203], [-0.1808607280254364, -2.915588855743408, 8.145054817199707], [-0.3058607578277588, -2.915588855743408, 7.928548336029053], [-0.3705655336380005, -2.915588855743408, 7.687067031860352], [-0.4352703094482422, -2.915588855743408, 7.44558572769165], [-0.4999750852584839, -2.915588855743408, 7.204104423522949], [-0.5646798610687256, -2.915588855743408, 6.962623119354248], [-0.6293846368789673, -2.915588855743408, 6.721141815185547], [-0.694089412689209, -2.915588855743408, 6.479660511016846], [-0.694089412689209, -2.915588855743408, 6.229660511016846], [-0.694089412689209, -2.915588855743408, 5.979660511016846], [-0.694089412689209, -2.915588855743408, 5.729660511016846], [-0.694089412689209, -2.915588855743408, 5.479660511016846], [-0.694089412689209, -2.915588855743408, 5.229660511016846], [-0.694089412689209, -2.915588855743408, 4.979660511016846], [-0.694089412689209, -2.915588855743408, 4.729660511016846], [-0.6293846368789673, -2.908215284347534, 4.4881792068481445], [-0.5646798610687256, -2.8625710010528564, 4.246697902679443], [-0.4999750852584839, -2.8169264793395996, 4.005216598510742], [-0.4352703094482422, -2.771282196044922, 3.763735055923462], [-0.3705655336380005, -2.7237534523010254, 3.5222535133361816], [-0.3058607578277588, -2.5367891788482666, 3.2807719707489014], [-0.24115599691867828, -2.4348299503326416, 3.039290428161621], [-0.17645123600959778, -2.327012062072754, 2.797808885574341], [-0.05145123600959778, -2.31558895111084, 2.5813026428222656], [0.013253524899482727, -2.31558895111084, 2.3398211002349854], [0.07795828580856323, -2.31558895111084, 2.098339557647705], [0.14266304671764374, -2.31558895111084, 1.8568581342697144], [0.20736780762672424, -2.31558895111084, 1.6153767108917236], [0.27207255363464355, -2.31558895111084, 1.373895287513733], [0.33677732944488525, -2.31558895111084, 1.1324138641357422], [0.40148210525512695, -2.31558895111084, 0.8909324407577515], [0.40148210525512695, -2.31558895111084, 0.6409324407577515], [0.40148210525512695, -2.31558895111084, 0.39093244075775146], [0.46618688106536865, -2.31558895111084, 0.14945098757743835], [0.5308916568756104, -2.31558895111084, -0.09203046560287476], [0.595596432685852, -2.31558895111084, -0.33351191878318787], [0.6603012084960938, -2.31558895111084, -0.574993371963501], [0.7250059843063354, -2.31558895111084, -0.8164747953414917], [0.7897107601165771, -2.31558895111084, -1.0579562187194824], [0.8544155359268188, -2.31558895111084, -1.2994376420974731], [0.8544155359268188, -2.31558895111084, -1.5494376420974731], [0.8544155359268188, -2.31558895111084, -1.7994376420974731], [0.8544155359268188, -2.31558895111084, -2.0494375228881836], [0.8544155359268188, -2.31558895111084, -2.2994375228881836]]", "gt_actions": "[2, 2, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 710, "episode_id": "711", "scene_id": "1LXtFkjw3qL", "instruction": "Go to the left, down the hallway, up the stairs, and into the bathroom on the right. ", "start_position": [0.3709160089492798, -2.915588855743408, 8.971349716186523], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [0.7933760285377502, -2.31558895111084, -2.709290027618408], "goal_radius": 3.0, "reference_path": "[[0.3709160089492798, -2.915588855743408, 8.971349716186523], [-0.4800280034542084, -2.915588855743408, 7.4665398597717285], [-0.7604010105133057, -2.915588855743408, 5.620200157165527], [-0.5281929969787598, -2.7784829139709473, 3.817840099334717], [0.08128730207681656, -2.31558895111084, 2.300879955291748], [0.9003250002861023, -2.31558895111084, -1.2901500463485718], [0.7933760285377502, -2.31558895111084, -2.709290027618408]]", "geodesic_distance": 11.855269432067871, "gt_locations": "[[0.3709160089492798, -2.915588855743408, 8.971349716186523], [0.2459159940481186, -2.915588855743408, 8.754843711853027], [0.06913930177688599, -2.915588855743408, 8.5780668258667], [-0.05586071312427521, -2.915588855743408, 8.361560821533203], [-0.1808607280254364, -2.915588855743408, 8.145054817199707], [-0.3058607578277588, -2.915588855743408, 7.928548336029053], [-0.3705655336380005, -2.915588855743408, 7.687067031860352], [-0.4352703094482422, -2.915588855743408, 7.44558572769165], [-0.4999750852584839, -2.915588855743408, 7.204104423522949], [-0.5646798610687256, -2.915588855743408, 6.962623119354248], [-0.6293846368789673, -2.915588855743408, 6.721141815185547], [-0.694089412689209, -2.915588855743408, 6.479660511016846], [-0.694089412689209, -2.915588855743408, 6.229660511016846], [-0.694089412689209, -2.915588855743408, 5.979660511016846], [-0.694089412689209, -2.915588855743408, 5.729660511016846], [-0.694089412689209, -2.915588855743408, 5.479660511016846], [-0.694089412689209, -2.915588855743408, 5.229660511016846], [-0.694089412689209, -2.915588855743408, 4.979660511016846], [-0.694089412689209, -2.915588855743408, 4.729660511016846], [-0.6293846368789673, -2.908215284347534, 4.4881792068481445], [-0.5646798610687256, -2.8625710010528564, 4.246697902679443], [-0.4999750852584839, -2.8169264793395996, 4.005216598510742], [-0.4352703094482422, -2.771282196044922, 3.763735055923462], [-0.3705655336380005, -2.7237534523010254, 3.5222535133361816], [-0.3058607578277588, -2.5367891788482666, 3.2807719707489014], [-0.24115599691867828, -2.4348299503326416, 3.039290428161621], [-0.17645123600959778, -2.327012062072754, 2.797808885574341], [-0.05145123600959778, -2.31558895111084, 2.5813026428222656], [0.013253524899482727, -2.31558895111084, 2.3398211002349854], [0.07795828580856323, -2.31558895111084, 2.098339557647705], [0.14266304671764374, -2.31558895111084, 1.8568581342697144], [0.20736780762672424, -2.31558895111084, 1.6153767108917236], [0.27207255363464355, -2.31558895111084, 1.373895287513733], [0.33677732944488525, -2.31558895111084, 1.1324138641357422], [0.40148210525512695, -2.31558895111084, 0.8909324407577515], [0.40148210525512695, -2.31558895111084, 0.6409324407577515], [0.40148210525512695, -2.31558895111084, 0.39093244075775146], [0.46618688106536865, -2.31558895111084, 0.14945098757743835], [0.5308916568756104, -2.31558895111084, -0.09203046560287476], [0.595596432685852, -2.31558895111084, -0.33351191878318787], [0.6603012084960938, -2.31558895111084, -0.574993371963501], [0.7250059843063354, -2.31558895111084, -0.8164747953414917], [0.7897107601165771, -2.31558895111084, -1.0579562187194824], [0.8544155359268188, -2.31558895111084, -1.2994376420974731], [0.8544155359268188, -2.31558895111084, -1.5494376420974731], [0.8544155359268188, -2.31558895111084, -1.7994376420974731], [0.8544155359268188, -2.31558895111084, -2.0494375228881836], [0.8544155359268188, -2.31558895111084, -2.2994375228881836]]", "gt_actions": "[2, 2, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 711, "episode_id": "712", "scene_id": "1LXtFkjw3qL", "instruction": "Walk past the set of chairs and down the hall. Walk up the steps and into the bathroom at the end of the hall. Stop in front of the sink. ", "start_position": [0.3709160089492798, -2.915588855743408, 8.971349716186523], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [0.7933760285377502, -2.31558895111084, -2.709290027618408], "goal_radius": 3.0, "reference_path": "[[0.3709160089492798, -2.915588855743408, 8.971349716186523], [-0.4800280034542084, -2.915588855743408, 7.4665398597717285], [-0.7604010105133057, -2.915588855743408, 5.620200157165527], [-0.5281929969787598, -2.7784829139709473, 3.817840099334717], [0.08128730207681656, -2.31558895111084, 2.300879955291748], [0.9003250002861023, -2.31558895111084, -1.2901500463485718], [0.7933760285377502, -2.31558895111084, -2.709290027618408]]", "geodesic_distance": 11.855269432067871, "gt_locations": "[[0.3709160089492798, -2.915588855743408, 8.971349716186523], [0.2459159940481186, -2.915588855743408, 8.754843711853027], [0.06913930177688599, -2.915588855743408, 8.5780668258667], [-0.05586071312427521, -2.915588855743408, 8.361560821533203], [-0.1808607280254364, -2.915588855743408, 8.145054817199707], [-0.3058607578277588, -2.915588855743408, 7.928548336029053], [-0.3705655336380005, -2.915588855743408, 7.687067031860352], [-0.4352703094482422, -2.915588855743408, 7.44558572769165], [-0.4999750852584839, -2.915588855743408, 7.204104423522949], [-0.5646798610687256, -2.915588855743408, 6.962623119354248], [-0.6293846368789673, -2.915588855743408, 6.721141815185547], [-0.694089412689209, -2.915588855743408, 6.479660511016846], [-0.694089412689209, -2.915588855743408, 6.229660511016846], [-0.694089412689209, -2.915588855743408, 5.979660511016846], [-0.694089412689209, -2.915588855743408, 5.729660511016846], [-0.694089412689209, -2.915588855743408, 5.479660511016846], [-0.694089412689209, -2.915588855743408, 5.229660511016846], [-0.694089412689209, -2.915588855743408, 4.979660511016846], [-0.694089412689209, -2.915588855743408, 4.729660511016846], [-0.6293846368789673, -2.908215284347534, 4.4881792068481445], [-0.5646798610687256, -2.8625710010528564, 4.246697902679443], [-0.4999750852584839, -2.8169264793395996, 4.005216598510742], [-0.4352703094482422, -2.771282196044922, 3.763735055923462], [-0.3705655336380005, -2.7237534523010254, 3.5222535133361816], [-0.3058607578277588, -2.5367891788482666, 3.2807719707489014], [-0.24115599691867828, -2.4348299503326416, 3.039290428161621], [-0.17645123600959778, -2.327012062072754, 2.797808885574341], [-0.05145123600959778, -2.31558895111084, 2.5813026428222656], [0.013253524899482727, -2.31558895111084, 2.3398211002349854], [0.07795828580856323, -2.31558895111084, 2.098339557647705], [0.14266304671764374, -2.31558895111084, 1.8568581342697144], [0.20736780762672424, -2.31558895111084, 1.6153767108917236], [0.27207255363464355, -2.31558895111084, 1.373895287513733], [0.33677732944488525, -2.31558895111084, 1.1324138641357422], [0.40148210525512695, -2.31558895111084, 0.8909324407577515], [0.40148210525512695, -2.31558895111084, 0.6409324407577515], [0.40148210525512695, -2.31558895111084, 0.39093244075775146], [0.46618688106536865, -2.31558895111084, 0.14945098757743835], [0.5308916568756104, -2.31558895111084, -0.09203046560287476], [0.595596432685852, -2.31558895111084, -0.33351191878318787], [0.6603012084960938, -2.31558895111084, -0.574993371963501], [0.7250059843063354, -2.31558895111084, -0.8164747953414917], [0.7897107601165771, -2.31558895111084, -1.0579562187194824], [0.8544155359268188, -2.31558895111084, -1.2994376420974731], [0.8544155359268188, -2.31558895111084, -1.5494376420974731], [0.8544155359268188, -2.31558895111084, -1.7994376420974731], [0.8544155359268188, -2.31558895111084, -2.0494375228881836], [0.8544155359268188, -2.31558895111084, -2.2994375228881836]]", "gt_actions": "[2, 2, 1, 2, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 712, "episode_id": "713", "scene_id": "sT4fr6TAbpF", "instruction": "Go indoors. Go past the wall with holes in it. Go past the large table with chairs. Turn right and wait there. ", "start_position": [3.6339800357818604, 0.05631500482559204, -2.725640058517456], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.468259811401367, 0.05631500482559204, -11.896100044250488], "goal_radius": 3.0, "reference_path": "[[3.6339800357818604, 0.05631500482559204, -2.725640058517456], [4.358940124511719, 0.05631500482559204, -5.741640090942383], [5.537859916687012, 0.05631500482559204, -6.186800003051758], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [8.468259811401367, 0.05631500482559204, -11.896100044250488]]", "geodesic_distance": 11.827942848205566, "gt_locations": "[[3.6339800357818604, 0.05631500482559204, -2.725640058517456], [3.6986846923828125, 0.05631500482559204, -2.9671216011047363], [3.7633893489837646, 0.05631500482559204, -3.2086031436920166], [3.828094005584717, 0.05631500482559204, -3.450084686279297], [3.892798662185669, 0.05631500482559204, -3.691566228866577], [3.957503318786621, 0.05631500482559204, -3.9330477714538574], [4.022208213806152, 0.05631500482559204, -4.174529075622559], [4.022208213806152, 0.05631500482559204, -4.424529075622559], [4.086913108825684, 0.05631500482559204, -4.66601037979126], [4.151618003845215, 0.05631500482559204, -4.907491683959961], [4.216322898864746, 0.05631500482559204, -5.148972988128662], [4.281027793884277, 0.05631500482559204, -5.390454292297363], [4.497534275054932, 0.05631500482559204, -5.515454292297363], [4.714040756225586, 0.05631500482559204, -5.640454292297363], [4.93054723739624, 0.05631500482559204, -5.765454292297363], [5.1470537185668945, 0.05631500482559204, -5.890454292297363], [5.1470537185668945, 0.05631500482559204, -6.140454292297363], [5.1470537185668945, 0.05631500482559204, -6.390454292297363], [5.1470537185668945, 0.05631500482559204, -6.640454292297363], [5.1470537185668945, 0.05631500482559204, -6.890454292297363], [5.1470537185668945, 0.05631500482559204, -7.140454292297363], [5.082348823547363, 0.05631500482559204, -7.3819355964660645], [5.082348823547363, 0.05631500482559204, -7.6319355964660645], [5.082348823547363, 0.05631500482559204, -7.8819355964660645], [5.082348823547363, 0.05631500482559204, -8.131935119628906], [5.082348823547363, 0.05631500482559204, -8.381935119628906], [5.1470537185668945, 0.05631500482559204, -8.623416900634766], [5.211758613586426, 0.05631500482559204, -8.864898681640625], [5.276463508605957, 0.05631500482559204, -9.106380462646484], [5.341168403625488, 0.05631500482559204, -9.347862243652344], [5.4058732986450195, 0.05631500482559204, -9.589344024658203], [5.470578193664551, 0.05631500482559204, -9.830825805664062], [5.535283088684082, 0.05631500482559204, -10.072307586669922], [5.535283088684082, 0.05631500482559204, -10.322307586669922], [5.535283088684082, 0.05631500482559204, -10.572307586669922], [5.535283088684082, 0.05631500482559204, -10.822307586669922], [5.621318340301514, 0.05631500482559204, -11.058296203613281], [5.686023235321045, 0.05631500482559204, -11.29977798461914], [5.750728130340576, 0.05631500482559204, -11.541259765625], [5.875728130340576, 0.05631500482559204, -11.757765769958496], [6.000728130340576, 0.05631500482559204, -11.974271774291992], [6.250728130340576, 0.05631500482559204, -11.974271774291992], [6.500728130340576, 0.05631500482559204, -11.974271774291992], [6.750728130340576, 0.05631500482559204, -11.974271774291992], [7.000728130340576, 0.05631500482559204, -11.974271774291992], [7.250728130340576, 0.05631500482559204, -11.974271774291992], [7.500728130340576, 0.05631500482559204, -11.974271774291992], [7.750728130340576, 0.05631500482559204, -11.974271774291992], [8.000728607177734, 0.05631500482559204, -11.974271774291992]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 713, "episode_id": "714", "scene_id": "sT4fr6TAbpF", "instruction": "Turn around and enter the house. Turn right after the oddly shaped chair on the right and wait by the light switch. ", "start_position": [3.6339800357818604, 0.05631500482559204, -2.725640058517456], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.468259811401367, 0.05631500482559204, -11.896100044250488], "goal_radius": 3.0, "reference_path": "[[3.6339800357818604, 0.05631500482559204, -2.725640058517456], [4.358940124511719, 0.05631500482559204, -5.741640090942383], [5.537859916687012, 0.05631500482559204, -6.186800003051758], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [8.468259811401367, 0.05631500482559204, -11.896100044250488]]", "geodesic_distance": 11.827942848205566, "gt_locations": "[[3.6339800357818604, 0.05631500482559204, -2.725640058517456], [3.6986846923828125, 0.05631500482559204, -2.9671216011047363], [3.7633893489837646, 0.05631500482559204, -3.2086031436920166], [3.828094005584717, 0.05631500482559204, -3.450084686279297], [3.892798662185669, 0.05631500482559204, -3.691566228866577], [3.957503318786621, 0.05631500482559204, -3.9330477714538574], [4.022208213806152, 0.05631500482559204, -4.174529075622559], [4.022208213806152, 0.05631500482559204, -4.424529075622559], [4.086913108825684, 0.05631500482559204, -4.66601037979126], [4.151618003845215, 0.05631500482559204, -4.907491683959961], [4.216322898864746, 0.05631500482559204, -5.148972988128662], [4.281027793884277, 0.05631500482559204, -5.390454292297363], [4.497534275054932, 0.05631500482559204, -5.515454292297363], [4.714040756225586, 0.05631500482559204, -5.640454292297363], [4.93054723739624, 0.05631500482559204, -5.765454292297363], [5.1470537185668945, 0.05631500482559204, -5.890454292297363], [5.1470537185668945, 0.05631500482559204, -6.140454292297363], [5.1470537185668945, 0.05631500482559204, -6.390454292297363], [5.1470537185668945, 0.05631500482559204, -6.640454292297363], [5.1470537185668945, 0.05631500482559204, -6.890454292297363], [5.1470537185668945, 0.05631500482559204, -7.140454292297363], [5.082348823547363, 0.05631500482559204, -7.3819355964660645], [5.082348823547363, 0.05631500482559204, -7.6319355964660645], [5.082348823547363, 0.05631500482559204, -7.8819355964660645], [5.082348823547363, 0.05631500482559204, -8.131935119628906], [5.082348823547363, 0.05631500482559204, -8.381935119628906], [5.1470537185668945, 0.05631500482559204, -8.623416900634766], [5.211758613586426, 0.05631500482559204, -8.864898681640625], [5.276463508605957, 0.05631500482559204, -9.106380462646484], [5.341168403625488, 0.05631500482559204, -9.347862243652344], [5.4058732986450195, 0.05631500482559204, -9.589344024658203], [5.470578193664551, 0.05631500482559204, -9.830825805664062], [5.535283088684082, 0.05631500482559204, -10.072307586669922], [5.535283088684082, 0.05631500482559204, -10.322307586669922], [5.535283088684082, 0.05631500482559204, -10.572307586669922], [5.535283088684082, 0.05631500482559204, -10.822307586669922], [5.621318340301514, 0.05631500482559204, -11.058296203613281], [5.686023235321045, 0.05631500482559204, -11.29977798461914], [5.750728130340576, 0.05631500482559204, -11.541259765625], [5.875728130340576, 0.05631500482559204, -11.757765769958496], [6.000728130340576, 0.05631500482559204, -11.974271774291992], [6.250728130340576, 0.05631500482559204, -11.974271774291992], [6.500728130340576, 0.05631500482559204, -11.974271774291992], [6.750728130340576, 0.05631500482559204, -11.974271774291992], [7.000728130340576, 0.05631500482559204, -11.974271774291992], [7.250728130340576, 0.05631500482559204, -11.974271774291992], [7.500728130340576, 0.05631500482559204, -11.974271774291992], [7.750728130340576, 0.05631500482559204, -11.974271774291992], [8.000728607177734, 0.05631500482559204, -11.974271774291992]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 714, "episode_id": "715", "scene_id": "sT4fr6TAbpF", "instruction": "Enter the house through the open glass doors. Go around the lattice screen and make a right turn.Go through the door and wait at the door on your right. ", "start_position": [3.6339800357818604, 0.05631500482559204, -2.725640058517456], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [8.468259811401367, 0.05631500482559204, -11.896100044250488], "goal_radius": 3.0, "reference_path": "[[3.6339800357818604, 0.05631500482559204, -2.725640058517456], [4.358940124511719, 0.05631500482559204, -5.741640090942383], [5.537859916687012, 0.05631500482559204, -6.186800003051758], [5.019519805908203, 0.05631500482559204, -7.8762102127075195], [5.040050029754639, 0.05631500482559204, -8.6768798828125], [6.109010219573975, 0.05631500482559204, -12.253600120544434], [8.468259811401367, 0.05631500482559204, -11.896100044250488]]", "geodesic_distance": 11.827942848205566, "gt_locations": "[[3.6339800357818604, 0.05631500482559204, -2.725640058517456], [3.6986846923828125, 0.05631500482559204, -2.9671216011047363], [3.7633893489837646, 0.05631500482559204, -3.2086031436920166], [3.828094005584717, 0.05631500482559204, -3.450084686279297], [3.892798662185669, 0.05631500482559204, -3.691566228866577], [3.957503318786621, 0.05631500482559204, -3.9330477714538574], [4.022208213806152, 0.05631500482559204, -4.174529075622559], [4.022208213806152, 0.05631500482559204, -4.424529075622559], [4.086913108825684, 0.05631500482559204, -4.66601037979126], [4.151618003845215, 0.05631500482559204, -4.907491683959961], [4.216322898864746, 0.05631500482559204, -5.148972988128662], [4.281027793884277, 0.05631500482559204, -5.390454292297363], [4.497534275054932, 0.05631500482559204, -5.515454292297363], [4.714040756225586, 0.05631500482559204, -5.640454292297363], [4.93054723739624, 0.05631500482559204, -5.765454292297363], [5.1470537185668945, 0.05631500482559204, -5.890454292297363], [5.1470537185668945, 0.05631500482559204, -6.140454292297363], [5.1470537185668945, 0.05631500482559204, -6.390454292297363], [5.1470537185668945, 0.05631500482559204, -6.640454292297363], [5.1470537185668945, 0.05631500482559204, -6.890454292297363], [5.1470537185668945, 0.05631500482559204, -7.140454292297363], [5.082348823547363, 0.05631500482559204, -7.3819355964660645], [5.082348823547363, 0.05631500482559204, -7.6319355964660645], [5.082348823547363, 0.05631500482559204, -7.8819355964660645], [5.082348823547363, 0.05631500482559204, -8.131935119628906], [5.082348823547363, 0.05631500482559204, -8.381935119628906], [5.1470537185668945, 0.05631500482559204, -8.623416900634766], [5.211758613586426, 0.05631500482559204, -8.864898681640625], [5.276463508605957, 0.05631500482559204, -9.106380462646484], [5.341168403625488, 0.05631500482559204, -9.347862243652344], [5.4058732986450195, 0.05631500482559204, -9.589344024658203], [5.470578193664551, 0.05631500482559204, -9.830825805664062], [5.535283088684082, 0.05631500482559204, -10.072307586669922], [5.535283088684082, 0.05631500482559204, -10.322307586669922], [5.535283088684082, 0.05631500482559204, -10.572307586669922], [5.535283088684082, 0.05631500482559204, -10.822307586669922], [5.621318340301514, 0.05631500482559204, -11.058296203613281], [5.686023235321045, 0.05631500482559204, -11.29977798461914], [5.750728130340576, 0.05631500482559204, -11.541259765625], [5.875728130340576, 0.05631500482559204, -11.757765769958496], [6.000728130340576, 0.05631500482559204, -11.974271774291992], [6.250728130340576, 0.05631500482559204, -11.974271774291992], [6.500728130340576, 0.05631500482559204, -11.974271774291992], [6.750728130340576, 0.05631500482559204, -11.974271774291992], [7.000728130340576, 0.05631500482559204, -11.974271774291992], [7.250728130340576, 0.05631500482559204, -11.974271774291992], [7.500728130340576, 0.05631500482559204, -11.974271774291992], [7.750728130340576, 0.05631500482559204, -11.974271774291992], [8.000728607177734, 0.05631500482559204, -11.974271774291992]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 3, 3, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 3, 1, 2, 1, 1, 3, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 715, "episode_id": "716", "scene_id": "ur6pFq6Qu1A", "instruction": "Walk past the mirror and go down the hallway in your ten o'clock position.  Keep going straight until you pass through double class doors.  Stop after you pass the first lounge chair and are standing in front of a large grey column. 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{"id": 716, "episode_id": "717", "scene_id": "ur6pFq6Qu1A", "instruction": "Turn around, then head down the hallway on the left. Walk through the doorway and stop near the tiled column. 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{"id": 717, "episode_id": "718", "scene_id": "ur6pFq6Qu1A", "instruction": "Head straight then turn left. Turn right head down the hallway. Pass the glass doors and stop near the black lounge chairs on the left. 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{"id": 718, "episode_id": "719", "scene_id": "pRbA3pwrgk9", "instruction": "Leave the closet and make a 90 degree left turn. Walk straight through the open double doors and stop on the rug in the bathroom. ", "start_position": [-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [4.06525993347168, -0.7661948204040527, 3.684309959411621], "goal_radius": 3.0, "reference_path": "[[-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], [-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [0.32040199637413025, -0.7661948204040527, 4.0338897705078125], [1.7130099534988403, -0.7661948204040527, 3.6620500087738037], [2.255460023880005, -0.7661948204040527, 3.698899984359741], [4.06525993347168, -0.7661948204040527, 3.684309959411621]]", "geodesic_distance": 5.987146854400635, "gt_locations": "[[-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], [-1.2272800207138062, -0.7661948204040527, 2.5323400497436523], [-1.1625752449035645, -0.7661948204040527, 2.7738215923309326], [-1.1625752449035645, -0.7661948204040527, 3.0238215923309326], [-1.1625752449035645, -0.7661948204040527, 3.2738215923309326], [-1.1625752449035645, -0.7661948204040527, 3.5238215923309326], [-0.921093761920929, -0.7661948204040527, 3.588526487350464], [-0.6796122789382935, -0.7661948204040527, 3.653231382369995], [-0.43813079595565796, -0.7661948204040527, 3.7179362773895264], [-0.19664931297302246, -0.7661948204040527, 3.7826411724090576], [0.019857004284858704, -0.7661948204040527, 3.9076411724090576], [0.2698569893836975, -0.7661948204040527, 3.9076411724090576], [0.5198569893836975, -0.7661948204040527, 3.9076411724090576], [0.761338472366333, -0.7661948204040527, 3.8429365158081055], [1.0028198957443237, -0.7661948204040527, 3.7782318592071533], [1.2443013191223145, -0.7661948204040527, 3.713527202606201], [1.4943013191223145, -0.7661948204040527, 3.713527202606201], [1.7443013191223145, -0.7661948204040527, 3.713527202606201], [1.9943013191223145, -0.7661948204040527, 3.713527202606201], [2.2443013191223145, -0.7661948204040527, 3.713527202606201], [2.4943013191223145, -0.7661948204040527, 3.713527202606201], [2.7443013191223145, -0.7661948204040527, 3.713527202606201], [2.9943013191223145, -0.7661948204040527, 3.713527202606201], [3.2443013191223145, -0.7661948204040527, 3.713527202606201], [3.4943013191223145, -0.7661948204040527, 3.713527202606201], [3.7443013191223145, -0.7661948204040527, 3.713527202606201]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 719, "episode_id": "720", "scene_id": "pRbA3pwrgk9", "instruction": "Go into the room. Turn left and go into the room ahead. Wait at the red rug. ", "start_position": [-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [4.06525993347168, -0.7661948204040527, 3.684309959411621], "goal_radius": 3.0, "reference_path": "[[-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], [-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [0.32040199637413025, -0.7661948204040527, 4.0338897705078125], [1.7130099534988403, -0.7661948204040527, 3.6620500087738037], [2.255460023880005, -0.7661948204040527, 3.698899984359741], [4.06525993347168, -0.7661948204040527, 3.684309959411621]]", "geodesic_distance": 5.987146854400635, "gt_locations": "[[-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], [-1.2272800207138062, -0.7661948204040527, 2.5323400497436523], [-1.1625752449035645, -0.7661948204040527, 2.7738215923309326], [-1.1625752449035645, -0.7661948204040527, 3.0238215923309326], [-1.1625752449035645, -0.7661948204040527, 3.2738215923309326], [-1.1625752449035645, -0.7661948204040527, 3.5238215923309326], [-0.921093761920929, -0.7661948204040527, 3.588526487350464], [-0.6796122789382935, -0.7661948204040527, 3.653231382369995], [-0.43813079595565796, -0.7661948204040527, 3.7179362773895264], [-0.19664931297302246, -0.7661948204040527, 3.7826411724090576], [0.019857004284858704, -0.7661948204040527, 3.9076411724090576], [0.2698569893836975, -0.7661948204040527, 3.9076411724090576], [0.5198569893836975, -0.7661948204040527, 3.9076411724090576], [0.761338472366333, -0.7661948204040527, 3.8429365158081055], [1.0028198957443237, -0.7661948204040527, 3.7782318592071533], [1.2443013191223145, -0.7661948204040527, 3.713527202606201], [1.4943013191223145, -0.7661948204040527, 3.713527202606201], [1.7443013191223145, -0.7661948204040527, 3.713527202606201], [1.9943013191223145, -0.7661948204040527, 3.713527202606201], [2.2443013191223145, -0.7661948204040527, 3.713527202606201], [2.4943013191223145, -0.7661948204040527, 3.713527202606201], [2.7443013191223145, -0.7661948204040527, 3.713527202606201], [2.9943013191223145, -0.7661948204040527, 3.713527202606201], [3.2443013191223145, -0.7661948204040527, 3.713527202606201], [3.4943013191223145, -0.7661948204040527, 3.713527202606201], [3.7443013191223145, -0.7661948204040527, 3.713527202606201]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 720, "episode_id": "721", "scene_id": "pRbA3pwrgk9", "instruction": "Enter the bedroom and turn left. Walk straight ahead into the bathroom Wait on the rug in the bathroom. ", "start_position": [-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], "start_rotation": [-0.0, 1.0, 0.0, 6.123233995736766e-17], "goal_position": [4.06525993347168, -0.7661948204040527, 3.684309959411621], "goal_radius": 3.0, "reference_path": "[[-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], [-1.1068899631500244, -0.7661948204040527, 3.8110098838806152], [0.32040199637413025, -0.7661948204040527, 4.0338897705078125], [1.7130099534988403, -0.7661948204040527, 3.6620500087738037], [2.255460023880005, -0.7661948204040527, 3.698899984359741], [4.06525993347168, -0.7661948204040527, 3.684309959411621]]", "geodesic_distance": 5.987146854400635, "gt_locations": "[[-1.2272800207138062, -0.7661948204040527, 2.2823400497436523], [-1.2272800207138062, -0.7661948204040527, 2.5323400497436523], [-1.1625752449035645, -0.7661948204040527, 2.7738215923309326], [-1.1625752449035645, -0.7661948204040527, 3.0238215923309326], [-1.1625752449035645, -0.7661948204040527, 3.2738215923309326], [-1.1625752449035645, -0.7661948204040527, 3.5238215923309326], [-0.921093761920929, -0.7661948204040527, 3.588526487350464], [-0.6796122789382935, -0.7661948204040527, 3.653231382369995], [-0.43813079595565796, -0.7661948204040527, 3.7179362773895264], [-0.19664931297302246, -0.7661948204040527, 3.7826411724090576], [0.019857004284858704, -0.7661948204040527, 3.9076411724090576], [0.2698569893836975, -0.7661948204040527, 3.9076411724090576], [0.5198569893836975, -0.7661948204040527, 3.9076411724090576], [0.761338472366333, -0.7661948204040527, 3.8429365158081055], [1.0028198957443237, -0.7661948204040527, 3.7782318592071533], [1.2443013191223145, -0.7661948204040527, 3.713527202606201], [1.4943013191223145, -0.7661948204040527, 3.713527202606201], [1.7443013191223145, -0.7661948204040527, 3.713527202606201], [1.9943013191223145, -0.7661948204040527, 3.713527202606201], [2.2443013191223145, -0.7661948204040527, 3.713527202606201], [2.4943013191223145, -0.7661948204040527, 3.713527202606201], [2.7443013191223145, -0.7661948204040527, 3.713527202606201], [2.9943013191223145, -0.7661948204040527, 3.713527202606201], [3.2443013191223145, -0.7661948204040527, 3.713527202606201], [3.4943013191223145, -0.7661948204040527, 3.713527202606201], [3.7443013191223145, -0.7661948204040527, 3.713527202606201]]", "gt_actions": "[1, 2, 1, 3, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 3, 1, 2, 2, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 721, "episode_id": "722", "scene_id": "7y3sRwLe3Va", "instruction": "Exit the bedroom and turn left. Go around the corner and down the hallway. Make a right turn and stop in the doorway on the right. ", "start_position": [-13.396300315856934, -2.6481590270996094, 6.377019882202148], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-14.675700187683105, -2.6481590270996094, 1.624709963798523], "goal_radius": 3.0, "reference_path": "[[-13.396300315856934, -2.6481590270996094, 6.377019882202148], [-11.258899688720703, -2.6481590270996094, 6.344069957733154], [-10.374699592590332, -2.6481590270996094, 6.426630020141602], [-8.222559928894043, -2.6481590270996094, 4.213510036468506], [-10.593199729919434, -2.6481590270996094, 2.7019600868225098], [-13.015899658203125, -2.6481590270996094, 2.650279998779297], [-14.675700187683105, -2.6481590270996094, 1.624709963798523]]", "geodesic_distance": 11.516365051269531, "gt_locations": "[[-13.396300315856934, -2.6481590270996094, 6.377019882202148], [-13.146300315856934, -2.6481590270996094, 6.377019882202148], [-12.896300315856934, -2.6481590270996094, 6.377019882202148], [-12.646300315856934, -2.6481590270996094, 6.377019882202148], [-12.396300315856934, -2.6481590270996094, 6.377019882202148], [-12.146300315856934, -2.6481590270996094, 6.377019882202148], [-11.896300315856934, -2.6481590270996094, 6.377019882202148], [-11.646300315856934, -2.6481590270996094, 6.377019882202148], [-11.396300315856934, -2.6481590270996094, 6.377019882202148], [-11.146300315856934, -2.6481590270996094, 6.377019882202148], [-10.896300315856934, -2.6481590270996094, 6.377019882202148], [-10.646300315856934, -2.6481590270996094, 6.377019882202148], [-10.429794311523438, -2.6481590270996094, 6.252019882202148], [-10.213288307189941, -2.6481590270996094, 6.127019882202148], [-9.996782302856445, -2.6481590270996094, 6.002019882202148], [-9.755300521850586, -2.6481590270996094, 5.937314987182617], [-9.578523635864258, -2.6481590270996094, 5.760538101196289], [-9.40174674987793, -2.6481590270996094, 5.583761215209961], [-9.224969863891602, -2.6481590270996094, 5.406984329223633], [-9.048192977905273, -2.6481590270996094, 5.230207443237305], [-8.871416091918945, -2.6481590270996094, 5.053430557250977], [-8.694639205932617, -2.6481590270996094, 4.876653671264648], [-8.569639205932617, -2.6481590270996094, 4.660147190093994], [-8.444639205932617, -2.6481590270996094, 4.44364070892334], [-8.621416091918945, -2.6481590270996094, 4.266863822937012], [-8.798192977905273, -2.6481590270996094, 4.090086936950684], [-8.974969863891602, -2.6481590270996094, 3.9133102893829346], [-9.15174674987793, -2.6481590270996094, 3.7365336418151855], [-9.328523635864258, -2.6481590270996094, 3.5597569942474365], [-9.545029640197754, -2.6481590270996094, 3.4347569942474365], [-9.721806526184082, -2.6481590270996094, 3.2579803466796875], [-9.938312530517578, -2.6481590270996094, 3.1329803466796875], [-10.115089416503906, -2.6481590270996094, 2.9562036991119385], [-10.331595420837402, -2.6481590270996094, 2.8312036991119385], [-10.581595420837402, -2.6481590270996094, 2.8312036991119385], [-10.831595420837402, -2.6481590270996094, 2.8312036991119385], [-11.081595420837402, -2.6481590270996094, 2.8312036991119385], [-11.331595420837402, -2.6481590270996094, 2.8312036991119385], [-11.581595420837402, -2.6481590270996094, 2.8312036991119385], [-11.831595420837402, -2.6481590270996094, 2.8312036991119385], [-12.081595420837402, -2.6481590270996094, 2.8312036991119385], [-12.323077201843262, -2.6481590270996094, 2.7664990425109863], [-12.564558982849121, -2.6481590270996094, 2.701794385910034], [-12.80604076385498, -2.6481590270996094, 2.637089729309082], [-13.022546768188477, -2.6481590270996094, 2.512089729309082], [-13.239052772521973, -2.6481590270996094, 2.387089729309082], [-13.455558776855469, -2.6481590270996094, 2.262089729309082], [-13.672064781188965, -2.6481590270996094, 2.137089729309082], [-13.913546562194824, -2.6481590270996094, 2.07238507270813], [-14.155028343200684, -2.6481590270996094, 2.0076804161071777], [-14.357667922973633, -2.6481590270996094, 1.8341364860534668]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 0]"}
{"id": 722, "episode_id": "723", "scene_id": "7y3sRwLe3Va", "instruction": "Exit the room via the door on the left.  After walking into the bigger room, turn left.  Walk a few steps and walk left again down the hallway.  When the hallway ends in a door, turn right and stand in the doorway of that room. ", "start_position": [-13.396300315856934, -2.6481590270996094, 6.377019882202148], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-14.675700187683105, -2.6481590270996094, 1.624709963798523], "goal_radius": 3.0, "reference_path": "[[-13.396300315856934, -2.6481590270996094, 6.377019882202148], [-11.258899688720703, -2.6481590270996094, 6.344069957733154], [-10.374699592590332, -2.6481590270996094, 6.426630020141602], [-8.222559928894043, -2.6481590270996094, 4.213510036468506], [-10.593199729919434, -2.6481590270996094, 2.7019600868225098], [-13.015899658203125, -2.6481590270996094, 2.650279998779297], [-14.675700187683105, -2.6481590270996094, 1.624709963798523]]", "geodesic_distance": 11.516365051269531, "gt_locations": "[[-13.396300315856934, -2.6481590270996094, 6.377019882202148], [-13.146300315856934, -2.6481590270996094, 6.377019882202148], [-12.896300315856934, -2.6481590270996094, 6.377019882202148], [-12.646300315856934, -2.6481590270996094, 6.377019882202148], [-12.396300315856934, -2.6481590270996094, 6.377019882202148], [-12.146300315856934, -2.6481590270996094, 6.377019882202148], [-11.896300315856934, -2.6481590270996094, 6.377019882202148], [-11.646300315856934, -2.6481590270996094, 6.377019882202148], [-11.396300315856934, -2.6481590270996094, 6.377019882202148], [-11.146300315856934, -2.6481590270996094, 6.377019882202148], [-10.896300315856934, -2.6481590270996094, 6.377019882202148], [-10.646300315856934, -2.6481590270996094, 6.377019882202148], [-10.429794311523438, -2.6481590270996094, 6.252019882202148], [-10.213288307189941, -2.6481590270996094, 6.127019882202148], [-9.996782302856445, -2.6481590270996094, 6.002019882202148], [-9.755300521850586, -2.6481590270996094, 5.937314987182617], [-9.578523635864258, -2.6481590270996094, 5.760538101196289], [-9.40174674987793, -2.6481590270996094, 5.583761215209961], [-9.224969863891602, -2.6481590270996094, 5.406984329223633], [-9.048192977905273, -2.6481590270996094, 5.230207443237305], [-8.871416091918945, -2.6481590270996094, 5.053430557250977], [-8.694639205932617, -2.6481590270996094, 4.876653671264648], [-8.569639205932617, -2.6481590270996094, 4.660147190093994], [-8.444639205932617, -2.6481590270996094, 4.44364070892334], [-8.621416091918945, -2.6481590270996094, 4.266863822937012], [-8.798192977905273, -2.6481590270996094, 4.090086936950684], [-8.974969863891602, -2.6481590270996094, 3.9133102893829346], [-9.15174674987793, -2.6481590270996094, 3.7365336418151855], [-9.328523635864258, -2.6481590270996094, 3.5597569942474365], [-9.545029640197754, -2.6481590270996094, 3.4347569942474365], [-9.721806526184082, -2.6481590270996094, 3.2579803466796875], [-9.938312530517578, -2.6481590270996094, 3.1329803466796875], [-10.115089416503906, -2.6481590270996094, 2.9562036991119385], [-10.331595420837402, -2.6481590270996094, 2.8312036991119385], [-10.581595420837402, -2.6481590270996094, 2.8312036991119385], [-10.831595420837402, -2.6481590270996094, 2.8312036991119385], [-11.081595420837402, -2.6481590270996094, 2.8312036991119385], [-11.331595420837402, -2.6481590270996094, 2.8312036991119385], [-11.581595420837402, -2.6481590270996094, 2.8312036991119385], [-11.831595420837402, -2.6481590270996094, 2.8312036991119385], [-12.081595420837402, -2.6481590270996094, 2.8312036991119385], [-12.323077201843262, -2.6481590270996094, 2.7664990425109863], [-12.564558982849121, -2.6481590270996094, 2.701794385910034], [-12.80604076385498, -2.6481590270996094, 2.637089729309082], [-13.022546768188477, -2.6481590270996094, 2.512089729309082], [-13.239052772521973, -2.6481590270996094, 2.387089729309082], [-13.455558776855469, -2.6481590270996094, 2.262089729309082], [-13.672064781188965, -2.6481590270996094, 2.137089729309082], [-13.913546562194824, -2.6481590270996094, 2.07238507270813], [-14.155028343200684, -2.6481590270996094, 2.0076804161071777], [-14.357667922973633, -2.6481590270996094, 1.8341364860534668]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 0]"}
{"id": 723, "episode_id": "724", "scene_id": "7y3sRwLe3Va", "instruction": "Turn left and exit the room. Turn left and another left. Wait in the doorway of the unfinished room on the right. ", "start_position": [-13.396300315856934, -2.6481590270996094, 6.377019882202148], "start_rotation": [-0.0, 0.9659258262890683, -0.0, -0.25881904510252063], "goal_position": [-14.675700187683105, -2.6481590270996094, 1.624709963798523], "goal_radius": 3.0, "reference_path": "[[-13.396300315856934, -2.6481590270996094, 6.377019882202148], [-11.258899688720703, -2.6481590270996094, 6.344069957733154], [-10.374699592590332, -2.6481590270996094, 6.426630020141602], [-8.222559928894043, -2.6481590270996094, 4.213510036468506], [-10.593199729919434, -2.6481590270996094, 2.7019600868225098], [-13.015899658203125, -2.6481590270996094, 2.650279998779297], [-14.675700187683105, -2.6481590270996094, 1.624709963798523]]", "geodesic_distance": 11.516365051269531, "gt_locations": "[[-13.396300315856934, -2.6481590270996094, 6.377019882202148], [-13.146300315856934, -2.6481590270996094, 6.377019882202148], [-12.896300315856934, -2.6481590270996094, 6.377019882202148], [-12.646300315856934, -2.6481590270996094, 6.377019882202148], [-12.396300315856934, -2.6481590270996094, 6.377019882202148], [-12.146300315856934, -2.6481590270996094, 6.377019882202148], [-11.896300315856934, -2.6481590270996094, 6.377019882202148], [-11.646300315856934, -2.6481590270996094, 6.377019882202148], [-11.396300315856934, -2.6481590270996094, 6.377019882202148], [-11.146300315856934, -2.6481590270996094, 6.377019882202148], [-10.896300315856934, -2.6481590270996094, 6.377019882202148], [-10.646300315856934, -2.6481590270996094, 6.377019882202148], [-10.429794311523438, -2.6481590270996094, 6.252019882202148], [-10.213288307189941, -2.6481590270996094, 6.127019882202148], [-9.996782302856445, -2.6481590270996094, 6.002019882202148], [-9.755300521850586, -2.6481590270996094, 5.937314987182617], [-9.578523635864258, -2.6481590270996094, 5.760538101196289], [-9.40174674987793, -2.6481590270996094, 5.583761215209961], [-9.224969863891602, -2.6481590270996094, 5.406984329223633], [-9.048192977905273, -2.6481590270996094, 5.230207443237305], [-8.871416091918945, -2.6481590270996094, 5.053430557250977], [-8.694639205932617, -2.6481590270996094, 4.876653671264648], [-8.569639205932617, -2.6481590270996094, 4.660147190093994], [-8.444639205932617, -2.6481590270996094, 4.44364070892334], [-8.621416091918945, -2.6481590270996094, 4.266863822937012], [-8.798192977905273, -2.6481590270996094, 4.090086936950684], [-8.974969863891602, -2.6481590270996094, 3.9133102893829346], [-9.15174674987793, -2.6481590270996094, 3.7365336418151855], [-9.328523635864258, -2.6481590270996094, 3.5597569942474365], [-9.545029640197754, -2.6481590270996094, 3.4347569942474365], [-9.721806526184082, -2.6481590270996094, 3.2579803466796875], [-9.938312530517578, -2.6481590270996094, 3.1329803466796875], [-10.115089416503906, -2.6481590270996094, 2.9562036991119385], [-10.331595420837402, -2.6481590270996094, 2.8312036991119385], [-10.581595420837402, -2.6481590270996094, 2.8312036991119385], [-10.831595420837402, -2.6481590270996094, 2.8312036991119385], [-11.081595420837402, -2.6481590270996094, 2.8312036991119385], [-11.331595420837402, -2.6481590270996094, 2.8312036991119385], [-11.581595420837402, -2.6481590270996094, 2.8312036991119385], [-11.831595420837402, -2.6481590270996094, 2.8312036991119385], [-12.081595420837402, -2.6481590270996094, 2.8312036991119385], [-12.323077201843262, -2.6481590270996094, 2.7664990425109863], [-12.564558982849121, -2.6481590270996094, 2.701794385910034], [-12.80604076385498, -2.6481590270996094, 2.637089729309082], [-13.022546768188477, -2.6481590270996094, 2.512089729309082], [-13.239052772521973, -2.6481590270996094, 2.387089729309082], [-13.455558776855469, -2.6481590270996094, 2.262089729309082], [-13.672064781188965, -2.6481590270996094, 2.137089729309082], [-13.913546562194824, -2.6481590270996094, 2.07238507270813], [-14.155028343200684, -2.6481590270996094, 2.0076804161071777], [-14.357667922973633, -2.6481590270996094, 1.8341364860534668]]", "gt_actions": "[2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 3, 1, 2, 2, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 1, 3, 1, 2, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 3, 3, 1, 0]"}
{"id": 724, "episode_id": "725", "scene_id": "B6ByNegPMKs", "instruction": "Facing the nearest red exit sign, move forward and turn right to go down a corridor. Pass by three wooden doors on your right, then turn left down another corridor. Stop in the middle of two doors to your right labeled \"S-E\" and \"S-D\" and just prior to door on your left labeled \"315\". ", "start_position": [45.967899322509766, 0.08020400255918503, 14.883500099182129], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [54.707698822021484, 0.08020400255918503, 11.350500106811523], "goal_radius": 3.0, "reference_path": "[[45.967899322509766, 0.08020400255918503, 14.883500099182129], [47.39889907836914, 0.08020400255918503, 13.187899589538574], [49.801998138427734, 0.08020400255918503, 13.283300399780273], [52.430599212646484, 0.08020400255918503, 13.38290023803711], [54.288700103759766, 0.08020400255918503, 13.262100219726562], [54.707698822021484, 0.08020400255918503, 11.350500106811523]]", "geodesic_distance": 9.85575008392334, "gt_locations": "[[45.967899322509766, 0.08020400255918503, 14.883500099182129], [46.144676208496094, 0.08020400255918503, 14.7067232131958], [46.32145309448242, 0.08020400255918503, 14.529946327209473], [46.44645309448242, 0.08020400255918503, 14.313440322875977], [46.57145309448242, 0.08020400255918503, 14.09693431854248], [46.74822998046875, 0.08020400255918503, 13.920157432556152], [46.92500686645508, 0.08020400255918503, 13.743380546569824], [47.101783752441406, 0.08020400255918503, 13.566603660583496], [47.343265533447266, 0.08020400255918503, 13.501898765563965], [47.584747314453125, 0.08020400255918503, 13.437193870544434], [47.834747314453125, 0.08020400255918503, 13.437193870544434], [48.084747314453125, 0.08020400255918503, 13.437193870544434], [48.334747314453125, 0.08020400255918503, 13.437193870544434], [48.584747314453125, 0.08020400255918503, 13.437193870544434], [48.834747314453125, 0.08020400255918503, 13.437193870544434], [49.084747314453125, 0.08020400255918503, 13.437193870544434], [49.326229095458984, 0.08020400255918503, 13.372488975524902], [49.576229095458984, 0.08020400255918503, 13.372488975524902], [49.826229095458984, 0.08020400255918503, 13.372488975524902], [50.076229095458984, 0.08020400255918503, 13.372488975524902], [50.326229095458984, 0.08020400255918503, 13.372488975524902], [50.576229095458984, 0.08020400255918503, 13.372488975524902], [50.826229095458984, 0.08020400255918503, 13.372488975524902], [51.076229095458984, 0.08020400255918503, 13.372488975524902], [51.326229095458984, 0.08020400255918503, 13.372488975524902], [51.576229095458984, 0.08020400255918503, 13.372488975524902], [51.826229095458984, 0.08020400255918503, 13.372488975524902], [52.076229095458984, 0.08020400255918503, 13.372488975524902], [52.326229095458984, 0.08020400255918503, 13.372488975524902], [52.576229095458984, 0.08020400255918503, 13.372488975524902], [52.826229095458984, 0.08020400255918503, 13.372488975524902], [53.076229095458984, 0.08020400255918503, 13.372488975524902], [53.326229095458984, 0.08020400255918503, 13.372488975524902], [53.576229095458984, 0.08020400255918503, 13.372488975524902], [53.826229095458984, 0.08020400255918503, 13.372488975524902], [53.951229095458984, 0.08020400255918503, 13.155982971191406], [54.076229095458984, 0.08020400255918503, 12.93947696685791], [54.201229095458984, 0.08020400255918503, 12.722970962524414], [54.326229095458984, 0.08020400255918503, 12.506464958190918], [54.390933990478516, 0.08020400255918503, 12.264983177185059], [54.45563888549805, 0.08020400255918503, 12.0235013961792], [54.52034378051758, 0.08020400255918503, 11.78201961517334]]", "gt_actions": "[3, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 725, "episode_id": "726", "scene_id": "B6ByNegPMKs", "instruction": "Go to the Exit sign. Turn right and go to the next Exit sign. ", "start_position": [45.967899322509766, 0.08020400255918503, 14.883500099182129], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [54.707698822021484, 0.08020400255918503, 11.350500106811523], "goal_radius": 3.0, "reference_path": "[[45.967899322509766, 0.08020400255918503, 14.883500099182129], [47.39889907836914, 0.08020400255918503, 13.187899589538574], [49.801998138427734, 0.08020400255918503, 13.283300399780273], [52.430599212646484, 0.08020400255918503, 13.38290023803711], [54.288700103759766, 0.08020400255918503, 13.262100219726562], [54.707698822021484, 0.08020400255918503, 11.350500106811523]]", "geodesic_distance": 9.85575008392334, "gt_locations": "[[45.967899322509766, 0.08020400255918503, 14.883500099182129], [46.144676208496094, 0.08020400255918503, 14.7067232131958], [46.32145309448242, 0.08020400255918503, 14.529946327209473], [46.44645309448242, 0.08020400255918503, 14.313440322875977], [46.57145309448242, 0.08020400255918503, 14.09693431854248], [46.74822998046875, 0.08020400255918503, 13.920157432556152], [46.92500686645508, 0.08020400255918503, 13.743380546569824], [47.101783752441406, 0.08020400255918503, 13.566603660583496], [47.343265533447266, 0.08020400255918503, 13.501898765563965], [47.584747314453125, 0.08020400255918503, 13.437193870544434], [47.834747314453125, 0.08020400255918503, 13.437193870544434], [48.084747314453125, 0.08020400255918503, 13.437193870544434], [48.334747314453125, 0.08020400255918503, 13.437193870544434], [48.584747314453125, 0.08020400255918503, 13.437193870544434], [48.834747314453125, 0.08020400255918503, 13.437193870544434], [49.084747314453125, 0.08020400255918503, 13.437193870544434], [49.326229095458984, 0.08020400255918503, 13.372488975524902], [49.576229095458984, 0.08020400255918503, 13.372488975524902], [49.826229095458984, 0.08020400255918503, 13.372488975524902], [50.076229095458984, 0.08020400255918503, 13.372488975524902], [50.326229095458984, 0.08020400255918503, 13.372488975524902], [50.576229095458984, 0.08020400255918503, 13.372488975524902], [50.826229095458984, 0.08020400255918503, 13.372488975524902], [51.076229095458984, 0.08020400255918503, 13.372488975524902], [51.326229095458984, 0.08020400255918503, 13.372488975524902], [51.576229095458984, 0.08020400255918503, 13.372488975524902], [51.826229095458984, 0.08020400255918503, 13.372488975524902], [52.076229095458984, 0.08020400255918503, 13.372488975524902], [52.326229095458984, 0.08020400255918503, 13.372488975524902], [52.576229095458984, 0.08020400255918503, 13.372488975524902], [52.826229095458984, 0.08020400255918503, 13.372488975524902], [53.076229095458984, 0.08020400255918503, 13.372488975524902], [53.326229095458984, 0.08020400255918503, 13.372488975524902], [53.576229095458984, 0.08020400255918503, 13.372488975524902], [53.826229095458984, 0.08020400255918503, 13.372488975524902], [53.951229095458984, 0.08020400255918503, 13.155982971191406], [54.076229095458984, 0.08020400255918503, 12.93947696685791], [54.201229095458984, 0.08020400255918503, 12.722970962524414], [54.326229095458984, 0.08020400255918503, 12.506464958190918], [54.390933990478516, 0.08020400255918503, 12.264983177185059], [54.45563888549805, 0.08020400255918503, 12.0235013961792], [54.52034378051758, 0.08020400255918503, 11.78201961517334]]", "gt_actions": "[3, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 726, "episode_id": "727", "scene_id": "B6ByNegPMKs", "instruction": "Turn right down the hallway and go all the way until you reach the exit sign. Turn left near the exit sign and stop by the first set of doors. ", "start_position": [45.967899322509766, 0.08020400255918503, 14.883500099182129], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [54.707698822021484, 0.08020400255918503, 11.350500106811523], "goal_radius": 3.0, "reference_path": "[[45.967899322509766, 0.08020400255918503, 14.883500099182129], [47.39889907836914, 0.08020400255918503, 13.187899589538574], [49.801998138427734, 0.08020400255918503, 13.283300399780273], [52.430599212646484, 0.08020400255918503, 13.38290023803711], [54.288700103759766, 0.08020400255918503, 13.262100219726562], [54.707698822021484, 0.08020400255918503, 11.350500106811523]]", "geodesic_distance": 9.85575008392334, "gt_locations": "[[45.967899322509766, 0.08020400255918503, 14.883500099182129], [46.144676208496094, 0.08020400255918503, 14.7067232131958], [46.32145309448242, 0.08020400255918503, 14.529946327209473], [46.44645309448242, 0.08020400255918503, 14.313440322875977], [46.57145309448242, 0.08020400255918503, 14.09693431854248], [46.74822998046875, 0.08020400255918503, 13.920157432556152], [46.92500686645508, 0.08020400255918503, 13.743380546569824], [47.101783752441406, 0.08020400255918503, 13.566603660583496], [47.343265533447266, 0.08020400255918503, 13.501898765563965], [47.584747314453125, 0.08020400255918503, 13.437193870544434], [47.834747314453125, 0.08020400255918503, 13.437193870544434], [48.084747314453125, 0.08020400255918503, 13.437193870544434], [48.334747314453125, 0.08020400255918503, 13.437193870544434], [48.584747314453125, 0.08020400255918503, 13.437193870544434], [48.834747314453125, 0.08020400255918503, 13.437193870544434], [49.084747314453125, 0.08020400255918503, 13.437193870544434], [49.326229095458984, 0.08020400255918503, 13.372488975524902], [49.576229095458984, 0.08020400255918503, 13.372488975524902], [49.826229095458984, 0.08020400255918503, 13.372488975524902], [50.076229095458984, 0.08020400255918503, 13.372488975524902], [50.326229095458984, 0.08020400255918503, 13.372488975524902], [50.576229095458984, 0.08020400255918503, 13.372488975524902], [50.826229095458984, 0.08020400255918503, 13.372488975524902], [51.076229095458984, 0.08020400255918503, 13.372488975524902], [51.326229095458984, 0.08020400255918503, 13.372488975524902], [51.576229095458984, 0.08020400255918503, 13.372488975524902], [51.826229095458984, 0.08020400255918503, 13.372488975524902], [52.076229095458984, 0.08020400255918503, 13.372488975524902], [52.326229095458984, 0.08020400255918503, 13.372488975524902], [52.576229095458984, 0.08020400255918503, 13.372488975524902], [52.826229095458984, 0.08020400255918503, 13.372488975524902], [53.076229095458984, 0.08020400255918503, 13.372488975524902], [53.326229095458984, 0.08020400255918503, 13.372488975524902], [53.576229095458984, 0.08020400255918503, 13.372488975524902], [53.826229095458984, 0.08020400255918503, 13.372488975524902], [53.951229095458984, 0.08020400255918503, 13.155982971191406], [54.076229095458984, 0.08020400255918503, 12.93947696685791], [54.201229095458984, 0.08020400255918503, 12.722970962524414], [54.326229095458984, 0.08020400255918503, 12.506464958190918], [54.390933990478516, 0.08020400255918503, 12.264983177185059], [54.45563888549805, 0.08020400255918503, 12.0235013961792], [54.52034378051758, 0.08020400255918503, 11.78201961517334]]", "gt_actions": "[3, 3, 3, 1, 1, 2, 1, 1, 3, 1, 1, 1, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 727, "episode_id": "728", "scene_id": "ULsKaCPVFJR", "instruction": "Exit the room, and immediately turn right.  Continue straight through the bathroom with the white floor.  Exit the bathroom through the door straight ahead.  Wait here. ", "start_position": [1.0707999467849731, 0.08356200158596039, 12.48009967803955], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [7.865640163421631, 0.08356200158596039, 15.447999954223633], "goal_radius": 3.0, "reference_path": "[[1.0707999467849731, 0.08356200158596039, 12.48009967803955], [1.7928999662399292, 0.08356200158596039, 11.706700325012207], [3.8112900257110596, 0.08356200158596039, 11.247699737548828], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [7.865640163421631, 0.08356200158596039, 15.447999954223633]]", "geodesic_distance": 8.62405014038086, "gt_locations": "[[1.0707999467849731, 0.08356200158596039, 12.48009967803955], [1.2475767135620117, 0.08356200158596039, 12.303322792053223], [1.4243533611297607, 0.08356200158596039, 12.126545906066895], [1.6011300086975098, 0.08356200158596039, 11.949769020080566], [1.8176363706588745, 0.08356200158596039, 11.824769020080566], [2.0341427326202393, 0.08356200158596039, 11.699769020080566], [2.2506492137908936, 0.08356200158596039, 11.574769020080566], [2.51409649848938, 0.08356200158596039, 11.507532119750977], [2.75557804107666, 0.08356200158596039, 11.442827224731445], [2.9970595836639404, 0.08356200158596039, 11.378122329711914], [3.2385411262512207, 0.08356200158596039, 11.313417434692383], [3.480022668838501, 0.08356200158596039, 11.248712539672852], [3.696528911590576, 0.08356200158596039, 11.373712539672852], [3.9130351543426514, 0.08356200158596039, 11.498712539672852], [4.0898118019104, 0.08356200158596039, 11.67548942565918], [4.2665886878967285, 0.08356200158596039, 11.852266311645508], [4.443365573883057, 0.08356200158596039, 12.029043197631836], [4.620142459869385, 0.08356200158596039, 12.205820083618164], [4.796919345855713, 0.08356200158596039, 12.382596969604492], [4.973696231842041, 0.08356200158596039, 12.55937385559082], [5.150473117828369, 0.08356200158596039, 12.736150741577148], [5.327250003814697, 0.08356200158596039, 12.912927627563477], [5.504026889801025, 0.08356200158596039, 13.089704513549805], [5.6808037757873535, 0.08356200158596039, 13.266481399536133], [5.857580661773682, 0.08356200158596039, 13.443258285522461], [6.03435754776001, 0.08356200158596039, 13.620035171508789], [6.211134433746338, 0.08356200158596039, 13.796812057495117], [6.387911319732666, 0.08356200158596039, 13.973588943481445], [6.564688205718994, 0.08356200158596039, 14.150365829467773], [6.741465091705322, 0.08356200158596039, 14.327142715454102], [6.91824197769165, 0.08356200158596039, 14.50391960144043], [7.0950188636779785, 0.08356200158596039, 14.680696487426758], [7.271795749664307, 0.08356200158596039, 14.857473373413086], [7.448572635650635, 0.08356200158596039, 15.034250259399414], [7.625349521636963, 0.08356200158596039, 15.211027145385742]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 728, "episode_id": "729", "scene_id": "ULsKaCPVFJR", "instruction": "Walk straight through the doorway and take a right. Walk straight through the bathroom and stop passed the sink. ", "start_position": [1.0707999467849731, 0.08356200158596039, 12.48009967803955], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [7.865640163421631, 0.08356200158596039, 15.447999954223633], "goal_radius": 3.0, "reference_path": "[[1.0707999467849731, 0.08356200158596039, 12.48009967803955], [1.7928999662399292, 0.08356200158596039, 11.706700325012207], [3.8112900257110596, 0.08356200158596039, 11.247699737548828], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [7.865640163421631, 0.08356200158596039, 15.447999954223633]]", "geodesic_distance": 8.62405014038086, "gt_locations": "[[1.0707999467849731, 0.08356200158596039, 12.48009967803955], [1.2475767135620117, 0.08356200158596039, 12.303322792053223], [1.4243533611297607, 0.08356200158596039, 12.126545906066895], [1.6011300086975098, 0.08356200158596039, 11.949769020080566], [1.8176363706588745, 0.08356200158596039, 11.824769020080566], [2.0341427326202393, 0.08356200158596039, 11.699769020080566], [2.2506492137908936, 0.08356200158596039, 11.574769020080566], [2.51409649848938, 0.08356200158596039, 11.507532119750977], [2.75557804107666, 0.08356200158596039, 11.442827224731445], [2.9970595836639404, 0.08356200158596039, 11.378122329711914], [3.2385411262512207, 0.08356200158596039, 11.313417434692383], [3.480022668838501, 0.08356200158596039, 11.248712539672852], [3.696528911590576, 0.08356200158596039, 11.373712539672852], [3.9130351543426514, 0.08356200158596039, 11.498712539672852], [4.0898118019104, 0.08356200158596039, 11.67548942565918], [4.2665886878967285, 0.08356200158596039, 11.852266311645508], [4.443365573883057, 0.08356200158596039, 12.029043197631836], [4.620142459869385, 0.08356200158596039, 12.205820083618164], [4.796919345855713, 0.08356200158596039, 12.382596969604492], [4.973696231842041, 0.08356200158596039, 12.55937385559082], [5.150473117828369, 0.08356200158596039, 12.736150741577148], [5.327250003814697, 0.08356200158596039, 12.912927627563477], [5.504026889801025, 0.08356200158596039, 13.089704513549805], [5.6808037757873535, 0.08356200158596039, 13.266481399536133], [5.857580661773682, 0.08356200158596039, 13.443258285522461], [6.03435754776001, 0.08356200158596039, 13.620035171508789], [6.211134433746338, 0.08356200158596039, 13.796812057495117], [6.387911319732666, 0.08356200158596039, 13.973588943481445], [6.564688205718994, 0.08356200158596039, 14.150365829467773], [6.741465091705322, 0.08356200158596039, 14.327142715454102], [6.91824197769165, 0.08356200158596039, 14.50391960144043], [7.0950188636779785, 0.08356200158596039, 14.680696487426758], [7.271795749664307, 0.08356200158596039, 14.857473373413086], [7.448572635650635, 0.08356200158596039, 15.034250259399414], [7.625349521636963, 0.08356200158596039, 15.211027145385742]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 729, "episode_id": "730", "scene_id": "ULsKaCPVFJR", "instruction": "Exit the bedroom and turn right. Go straight down the hall. Stop in front of the shower. ", "start_position": [1.0707999467849731, 0.08356200158596039, 12.48009967803955], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [7.865640163421631, 0.08356200158596039, 15.447999954223633], "goal_radius": 3.0, "reference_path": "[[1.0707999467849731, 0.08356200158596039, 12.48009967803955], [1.7928999662399292, 0.08356200158596039, 11.706700325012207], [3.8112900257110596, 0.08356200158596039, 11.247699737548828], [4.917389869689941, 0.08356200158596039, 12.388500213623047], [5.798369884490967, 0.08356200158596039, 13.479700088500977], [7.003220081329346, 0.08356200158596039, 14.576800346374512], [7.865640163421631, 0.08356200158596039, 15.447999954223633]]", "geodesic_distance": 8.62405014038086, "gt_locations": "[[1.0707999467849731, 0.08356200158596039, 12.48009967803955], [1.2475767135620117, 0.08356200158596039, 12.303322792053223], [1.4243533611297607, 0.08356200158596039, 12.126545906066895], [1.6011300086975098, 0.08356200158596039, 11.949769020080566], [1.8176363706588745, 0.08356200158596039, 11.824769020080566], [2.0341427326202393, 0.08356200158596039, 11.699769020080566], [2.2506492137908936, 0.08356200158596039, 11.574769020080566], [2.51409649848938, 0.08356200158596039, 11.507532119750977], [2.75557804107666, 0.08356200158596039, 11.442827224731445], [2.9970595836639404, 0.08356200158596039, 11.378122329711914], [3.2385411262512207, 0.08356200158596039, 11.313417434692383], [3.480022668838501, 0.08356200158596039, 11.248712539672852], [3.696528911590576, 0.08356200158596039, 11.373712539672852], [3.9130351543426514, 0.08356200158596039, 11.498712539672852], [4.0898118019104, 0.08356200158596039, 11.67548942565918], [4.2665886878967285, 0.08356200158596039, 11.852266311645508], [4.443365573883057, 0.08356200158596039, 12.029043197631836], [4.620142459869385, 0.08356200158596039, 12.205820083618164], [4.796919345855713, 0.08356200158596039, 12.382596969604492], [4.973696231842041, 0.08356200158596039, 12.55937385559082], [5.150473117828369, 0.08356200158596039, 12.736150741577148], [5.327250003814697, 0.08356200158596039, 12.912927627563477], [5.504026889801025, 0.08356200158596039, 13.089704513549805], [5.6808037757873535, 0.08356200158596039, 13.266481399536133], [5.857580661773682, 0.08356200158596039, 13.443258285522461], [6.03435754776001, 0.08356200158596039, 13.620035171508789], [6.211134433746338, 0.08356200158596039, 13.796812057495117], [6.387911319732666, 0.08356200158596039, 13.973588943481445], [6.564688205718994, 0.08356200158596039, 14.150365829467773], [6.741465091705322, 0.08356200158596039, 14.327142715454102], [6.91824197769165, 0.08356200158596039, 14.50391960144043], [7.0950188636779785, 0.08356200158596039, 14.680696487426758], [7.271795749664307, 0.08356200158596039, 14.857473373413086], [7.448572635650635, 0.08356200158596039, 15.034250259399414], [7.625349521636963, 0.08356200158596039, 15.211027145385742]]", "gt_actions": "[2, 2, 2, 1, 1, 1, 3, 1, 1, 1, 3, 3, 1, 2, 1, 1, 1, 1, 3, 3, 3, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 730, "episode_id": "731", "scene_id": "aayBHfsNo7d", "instruction": "Turn around and go to your right passed the living area and the stairs. Walk to the left of the table and turn left. Stop in the room with the book on the table. ", "start_position": [-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.328940391540527, 0.028255999088287354, 1.0550299882888794], "goal_radius": 3.0, "reference_path": "[[-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], [0.7396759986877441, 0.028255999088287354, 1.9030100107192993], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [8.328940391540527, 0.028255999088287354, 1.0550299882888794]]", "geodesic_distance": 11.889249801635742, "gt_locations": "[[-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], [-0.7185173034667969, 0.028255999088287354, -0.3201793134212494], [-0.5935173034667969, 0.028255999088287354, -0.10367292165756226], [-0.4167405962944031, 0.028255999088287354, 0.07310375571250916], [-0.2917405962944031, 0.028255999088287354, 0.2896101474761963], [-0.16674058139324188, 0.028255999088287354, 0.506116509437561], [-0.04174056649208069, 0.028255999088287354, 0.7226228713989258], [0.0832594484090805, 0.028255999088287354, 0.9391292333602905], [0.2082594633102417, 0.028255999088287354, 1.1556355953216553], [0.3332594633102417, 0.028255999088287354, 1.37214195728302], [0.4582594633102417, 0.028255999088287354, 1.5886483192443848], [0.6350361704826355, 0.028255999088287354, 1.7654249668121338], [0.8515425324440002, 0.028255999088287354, 1.8904249668121338], [1.0680489540100098, 0.028255999088287354, 2.015424966812134], [1.2845553159713745, 0.028255999088287354, 2.140424966812134], [1.5010616779327393, 0.028255999088287354, 2.265424966812134], [1.6778383255004883, 0.028255999088287354, 2.442201614379883], [1.8546149730682373, 0.028255999088287354, 2.618978500366211], [2.0711212158203125, 0.028255999088287354, 2.743978500366211], [2.2876274585723877, 0.028255999088287354, 2.868978500366211], [2.504133701324463, 0.028255999088287354, 2.993978500366211], [2.720639944076538, 0.028255999088287354, 3.118978500366211], [2.9371461868286133, 0.028255999088287354, 3.243978500366211], [3.1536524295806885, 0.028255999088287354, 3.368978500366211], [3.3701586723327637, 0.028255999088287354, 3.493978500366211], [3.586664915084839, 0.028255999088287354, 3.618978500366211], [3.803171157836914, 0.101300448179245, 3.743978500366211], [4.019677639007568, 0.120077945291996, 3.868978500366211], [4.269677639007568, 0.12134749442338943, 3.868978500366211], [4.519677639007568, 0.12181483209133148, 3.868978500366211], [4.769677639007568, 0.11994633078575134, 3.868978500366211], [5.019677639007568, 0.10782109200954437, 3.868978500366211], [5.269677639007568, 0.028255999088287354, 3.868978500366211], [5.5111589431762695, 0.028255999088287354, 3.933683395385742], [5.752640247344971, 0.028255999088287354, 3.9983882904052734], [6.002640247344971, 0.028255999088287354, 3.9983882904052734], [6.252640247344971, 0.028255999088287354, 3.9983882904052734], [6.502640247344971, 0.028255999088287354, 3.9983882904052734], [6.752640247344971, 0.028255999088287354, 3.9983882904052734], [7.002640247344971, 0.028255999088287354, 3.9983882904052734], [7.252640247344971, 0.028255999088287354, 3.9983882904052734], [7.502640247344971, 0.028255999088287354, 3.9983882904052734], [7.752640247344971, 0.028255999088287354, 3.9983882904052734], [8.002639770507812, 0.028255999088287354, 3.9983882904052734], [8.252639770507812, 0.028255999088287354, 3.9983882904052734], [8.502639770507812, 0.028255999088287354, 3.9983882904052734], [8.502639770507812, 0.028255999088287354, 3.7483882904052734], [8.502639770507812, 0.028255999088287354, 3.4983882904052734], [8.502639770507812, 0.028255999088287354, 3.2483882904052734], [8.502639770507812, 0.028255999088287354, 2.9983882904052734], [8.502639770507812, 0.028255999088287354, 2.7483882904052734], [8.502639770507812, 0.028255999088287354, 2.4983882904052734], [8.502639770507812, 0.028255999088287354, 2.2483882904052734], [8.502639770507812, 0.028255999088287354, 1.9983882904052734], [8.437934875488281, 0.028255999088287354, 1.7569068670272827], [8.37322998046875, 0.028255999088287354, 1.515425443649292]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 731, "episode_id": "732", "scene_id": "aayBHfsNo7d", "instruction": "Walk toward the staircase and to the left of the stairs. Turn left by the table and chairs and stop in front of the desk. ", "start_position": [-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.328940391540527, 0.028255999088287354, 1.0550299882888794], "goal_radius": 3.0, "reference_path": "[[-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], [0.7396759986877441, 0.028255999088287354, 1.9030100107192993], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [8.328940391540527, 0.028255999088287354, 1.0550299882888794]]", "geodesic_distance": 11.889249801635742, "gt_locations": "[[-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], [-0.7185173034667969, 0.028255999088287354, -0.3201793134212494], [-0.5935173034667969, 0.028255999088287354, -0.10367292165756226], [-0.4167405962944031, 0.028255999088287354, 0.07310375571250916], [-0.2917405962944031, 0.028255999088287354, 0.2896101474761963], [-0.16674058139324188, 0.028255999088287354, 0.506116509437561], [-0.04174056649208069, 0.028255999088287354, 0.7226228713989258], [0.0832594484090805, 0.028255999088287354, 0.9391292333602905], [0.2082594633102417, 0.028255999088287354, 1.1556355953216553], [0.3332594633102417, 0.028255999088287354, 1.37214195728302], [0.4582594633102417, 0.028255999088287354, 1.5886483192443848], [0.6350361704826355, 0.028255999088287354, 1.7654249668121338], [0.8515425324440002, 0.028255999088287354, 1.8904249668121338], [1.0680489540100098, 0.028255999088287354, 2.015424966812134], [1.2845553159713745, 0.028255999088287354, 2.140424966812134], [1.5010616779327393, 0.028255999088287354, 2.265424966812134], [1.6778383255004883, 0.028255999088287354, 2.442201614379883], [1.8546149730682373, 0.028255999088287354, 2.618978500366211], [2.0711212158203125, 0.028255999088287354, 2.743978500366211], [2.2876274585723877, 0.028255999088287354, 2.868978500366211], [2.504133701324463, 0.028255999088287354, 2.993978500366211], [2.720639944076538, 0.028255999088287354, 3.118978500366211], [2.9371461868286133, 0.028255999088287354, 3.243978500366211], [3.1536524295806885, 0.028255999088287354, 3.368978500366211], [3.3701586723327637, 0.028255999088287354, 3.493978500366211], [3.586664915084839, 0.028255999088287354, 3.618978500366211], [3.803171157836914, 0.101300448179245, 3.743978500366211], [4.019677639007568, 0.120077945291996, 3.868978500366211], [4.269677639007568, 0.12134749442338943, 3.868978500366211], [4.519677639007568, 0.12181483209133148, 3.868978500366211], [4.769677639007568, 0.11994633078575134, 3.868978500366211], [5.019677639007568, 0.10782109200954437, 3.868978500366211], [5.269677639007568, 0.028255999088287354, 3.868978500366211], [5.5111589431762695, 0.028255999088287354, 3.933683395385742], [5.752640247344971, 0.028255999088287354, 3.9983882904052734], [6.002640247344971, 0.028255999088287354, 3.9983882904052734], [6.252640247344971, 0.028255999088287354, 3.9983882904052734], [6.502640247344971, 0.028255999088287354, 3.9983882904052734], [6.752640247344971, 0.028255999088287354, 3.9983882904052734], [7.002640247344971, 0.028255999088287354, 3.9983882904052734], [7.252640247344971, 0.028255999088287354, 3.9983882904052734], [7.502640247344971, 0.028255999088287354, 3.9983882904052734], [7.752640247344971, 0.028255999088287354, 3.9983882904052734], [8.002639770507812, 0.028255999088287354, 3.9983882904052734], [8.252639770507812, 0.028255999088287354, 3.9983882904052734], [8.502639770507812, 0.028255999088287354, 3.9983882904052734], [8.502639770507812, 0.028255999088287354, 3.7483882904052734], [8.502639770507812, 0.028255999088287354, 3.4983882904052734], [8.502639770507812, 0.028255999088287354, 3.2483882904052734], [8.502639770507812, 0.028255999088287354, 2.9983882904052734], [8.502639770507812, 0.028255999088287354, 2.7483882904052734], [8.502639770507812, 0.028255999088287354, 2.4983882904052734], [8.502639770507812, 0.028255999088287354, 2.2483882904052734], [8.502639770507812, 0.028255999088287354, 1.9983882904052734], [8.437934875488281, 0.028255999088287354, 1.7569068670272827], [8.37322998046875, 0.028255999088287354, 1.515425443649292]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 732, "episode_id": "733", "scene_id": "aayBHfsNo7d", "instruction": "Enter the building and walk past the stairs. Turn hard left at the glass table and go into the room. Stop in front of the wooden table. ", "start_position": [-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [8.328940391540527, 0.028255999088287354, 1.0550299882888794], "goal_radius": 3.0, "reference_path": "[[-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], [0.7396759986877441, 0.028255999088287354, 1.9030100107192993], [4.379209995269775, 0.13874661922454834, 4.053239822387695], [6.3401198387146, 0.028255999088287354, 4.054059982299805], [8.886110305786133, 0.028255999088287354, 4.063089847564697], [8.328940391540527, 0.028255999088287354, 1.0550299882888794]]", "geodesic_distance": 11.889249801635742, "gt_locations": "[[-0.8952940106391907, 0.028255999088287354, -0.4969559907913208], [-0.7185173034667969, 0.028255999088287354, -0.3201793134212494], [-0.5935173034667969, 0.028255999088287354, -0.10367292165756226], [-0.4167405962944031, 0.028255999088287354, 0.07310375571250916], [-0.2917405962944031, 0.028255999088287354, 0.2896101474761963], [-0.16674058139324188, 0.028255999088287354, 0.506116509437561], [-0.04174056649208069, 0.028255999088287354, 0.7226228713989258], [0.0832594484090805, 0.028255999088287354, 0.9391292333602905], [0.2082594633102417, 0.028255999088287354, 1.1556355953216553], [0.3332594633102417, 0.028255999088287354, 1.37214195728302], [0.4582594633102417, 0.028255999088287354, 1.5886483192443848], [0.6350361704826355, 0.028255999088287354, 1.7654249668121338], [0.8515425324440002, 0.028255999088287354, 1.8904249668121338], [1.0680489540100098, 0.028255999088287354, 2.015424966812134], [1.2845553159713745, 0.028255999088287354, 2.140424966812134], [1.5010616779327393, 0.028255999088287354, 2.265424966812134], [1.6778383255004883, 0.028255999088287354, 2.442201614379883], [1.8546149730682373, 0.028255999088287354, 2.618978500366211], [2.0711212158203125, 0.028255999088287354, 2.743978500366211], [2.2876274585723877, 0.028255999088287354, 2.868978500366211], [2.504133701324463, 0.028255999088287354, 2.993978500366211], [2.720639944076538, 0.028255999088287354, 3.118978500366211], [2.9371461868286133, 0.028255999088287354, 3.243978500366211], [3.1536524295806885, 0.028255999088287354, 3.368978500366211], [3.3701586723327637, 0.028255999088287354, 3.493978500366211], [3.586664915084839, 0.028255999088287354, 3.618978500366211], [3.803171157836914, 0.101300448179245, 3.743978500366211], [4.019677639007568, 0.120077945291996, 3.868978500366211], [4.269677639007568, 0.12134749442338943, 3.868978500366211], [4.519677639007568, 0.12181483209133148, 3.868978500366211], [4.769677639007568, 0.11994633078575134, 3.868978500366211], [5.019677639007568, 0.10782109200954437, 3.868978500366211], [5.269677639007568, 0.028255999088287354, 3.868978500366211], [5.5111589431762695, 0.028255999088287354, 3.933683395385742], [5.752640247344971, 0.028255999088287354, 3.9983882904052734], [6.002640247344971, 0.028255999088287354, 3.9983882904052734], [6.252640247344971, 0.028255999088287354, 3.9983882904052734], [6.502640247344971, 0.028255999088287354, 3.9983882904052734], [6.752640247344971, 0.028255999088287354, 3.9983882904052734], [7.002640247344971, 0.028255999088287354, 3.9983882904052734], [7.252640247344971, 0.028255999088287354, 3.9983882904052734], [7.502640247344971, 0.028255999088287354, 3.9983882904052734], [7.752640247344971, 0.028255999088287354, 3.9983882904052734], [8.002639770507812, 0.028255999088287354, 3.9983882904052734], [8.252639770507812, 0.028255999088287354, 3.9983882904052734], [8.502639770507812, 0.028255999088287354, 3.9983882904052734], [8.502639770507812, 0.028255999088287354, 3.7483882904052734], [8.502639770507812, 0.028255999088287354, 3.4983882904052734], [8.502639770507812, 0.028255999088287354, 3.2483882904052734], [8.502639770507812, 0.028255999088287354, 2.9983882904052734], [8.502639770507812, 0.028255999088287354, 2.7483882904052734], [8.502639770507812, 0.028255999088287354, 2.4983882904052734], [8.502639770507812, 0.028255999088287354, 2.2483882904052734], [8.502639770507812, 0.028255999088287354, 1.9983882904052734], [8.437934875488281, 0.028255999088287354, 1.7569068670272827], [8.37322998046875, 0.028255999088287354, 1.515425443649292]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 0]"}
{"id": 733, "episode_id": "734", "scene_id": "kEZ7cmS4wCh", "instruction": "Go forward to the hall, turn left and then take your next right at the blue lips. Follow the railing and go to the left. Stop at the top of the stairs. ", "start_position": [1.9415099620819092, 3.3788797855377197, 7.369420051574707], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-6.086400032043457, 3.4863269329071045, -1.7759599685668945], "goal_radius": 3.0, "reference_path": "[[1.9415099620819092, 3.3788797855377197, 7.369420051574707], [1.1945199966430664, 3.2863271236419678, 5.788609981536865], [-1.176110029220581, 3.2863271236419678, 5.854939937591553], [-1.8752399682998657, 3.2863271236419678, 3.783220052719116], [-2.8769099712371826, 3.358274221420288, 0.2591780126094818], [-4.415550231933594, 3.4863269329071045, -1.225640058517456], [-6.086400032043457, 3.4863269329071045, -1.7759599685668945]]", "geodesic_distance": 12.70328426361084, "gt_locations": "[[1.9415099620819092, 3.3788797855377197, 7.369420051574707], [1.8165099620819092, 3.365682363510132, 7.152913570404053], [1.6915099620819092, 3.3101348876953125, 6.936407089233398], [1.5665099620819092, 3.2863271236419678, 6.719900608062744], [1.4415099620819092, 3.2863271236419678, 6.50339412689209], [1.3768051862716675, 3.2863271236419678, 6.261912822723389], [1.3121004104614258, 3.2863271236419678, 6.0204315185546875], [1.0621004104614258, 3.2863271236419678, 6.0204315185546875], [0.8121004104614258, 3.2863271236419678, 6.0204315185546875], [0.5621004104614258, 3.2863271236419678, 6.0204315185546875], [0.3121004104614258, 3.2863271236419678, 6.0204315185546875], [0.06210041046142578, 3.2863271236419678, 6.0204315185546875], [-0.18789958953857422, 3.2863271236419678, 6.0204315185546875], [-0.4378995895385742, 3.2863271236419678, 6.0204315185546875], [-0.6793810725212097, 3.2863271236419678, 5.955726623535156], [-0.9208625555038452, 3.2863271236419678, 5.891021728515625], [-1.0458625555038452, 3.316431999206543, 5.674515247344971], [-1.1708625555038452, 3.3907470703125, 5.458008766174316], [-1.2958625555038452, 3.2863271236419678, 5.241502285003662], [-1.4208625555038452, 3.2863271236419678, 5.024995803833008], [-1.485567331314087, 3.2863271236419678, 4.783514499664307], [-1.5502721071243286, 3.2863271236419678, 4.5420331954956055], [-1.6149768829345703, 3.2863271236419678, 4.300551891326904], [-1.7399768829345703, 3.2863271236419678, 4.08404541015625], [-1.804681658744812, 3.2863271236419678, 3.8425638675689697], [-1.8693864345550537, 3.2863271236419678, 3.6010823249816895], [-1.9340912103652954, 3.2863271236419678, 3.359600782394409], [-1.998795986175537, 3.2863271236419678, 3.118119239807129], [-2.0635006427764893, 3.2863271236419678, 2.8766376972198486], [-2.1282052993774414, 3.2863271236419678, 2.6351561546325684], [-2.1929099559783936, 3.2863271236419678, 2.393674612045288], [-2.2576146125793457, 3.2863271236419678, 2.152193069458008], [-2.322319269180298, 3.2863271236419678, 1.910711646080017], [-2.38702392578125, 3.2863271236419678, 1.6692302227020264], [-2.451728582382202, 3.3123271465301514, 1.4277487993240356], [-2.5164332389831543, 3.350170135498047, 1.186267375946045], [-2.5811378955841064, 3.3529138565063477, 0.9447859525680542], [-2.6458425521850586, 3.350755453109741, 0.7033045291900635], [-2.7708425521850586, 3.351675510406494, 0.48679816722869873], [-2.9476191997528076, 3.3469672203063965, 0.31002146005630493], [-3.1243958473205566, 3.341737747192383, 0.13324475288391113], [-3.3011724948883057, 3.3364920616149902, -0.043531954288482666], [-3.4779491424560547, 3.3312463760375977, -0.22030866146087646], [-3.6547257900238037, 3.3923516273498535, -0.39708536863327026], [-3.8315024375915527, 3.4863269329071045, -0.5738620758056641], [-3.9565024375915527, 3.4863269329071045, -0.7903684377670288], [-4.133279323577881, 3.4863269329071045, -0.9671451449394226], [-4.349785804748535, 3.4863269329071045, -1.0921452045440674], [-4.5662922859191895, 3.4863269329071045, -1.2171452045440674], [-4.782798767089844, 3.4863269329071045, -1.3421452045440674], [-5.024280071258545, 3.4863269329071045, -1.406849980354309], [-5.265761375427246, 3.4863269329071045, -1.4715547561645508], [-5.507242679595947, 3.4863269329071045, -1.5362595319747925], [-5.748723983764648, 3.4863269329071045, -1.6009643077850342]]", "gt_actions": "[1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 734, "episode_id": "735", "scene_id": "kEZ7cmS4wCh", "instruction": "Exit the bathroom. Turn left then turn right. Walk straight until you get to the top of the stairs on the left. ", "start_position": [1.9415099620819092, 3.3788797855377197, 7.369420051574707], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-6.086400032043457, 3.4863269329071045, -1.7759599685668945], "goal_radius": 3.0, "reference_path": "[[1.9415099620819092, 3.3788797855377197, 7.369420051574707], [1.1945199966430664, 3.2863271236419678, 5.788609981536865], [-1.176110029220581, 3.2863271236419678, 5.854939937591553], [-1.8752399682998657, 3.2863271236419678, 3.783220052719116], [-2.8769099712371826, 3.358274221420288, 0.2591780126094818], [-4.415550231933594, 3.4863269329071045, -1.225640058517456], [-6.086400032043457, 3.4863269329071045, -1.7759599685668945]]", "geodesic_distance": 12.70328426361084, "gt_locations": "[[1.9415099620819092, 3.3788797855377197, 7.369420051574707], [1.8165099620819092, 3.365682363510132, 7.152913570404053], [1.6915099620819092, 3.3101348876953125, 6.936407089233398], [1.5665099620819092, 3.2863271236419678, 6.719900608062744], [1.4415099620819092, 3.2863271236419678, 6.50339412689209], [1.3768051862716675, 3.2863271236419678, 6.261912822723389], [1.3121004104614258, 3.2863271236419678, 6.0204315185546875], [1.0621004104614258, 3.2863271236419678, 6.0204315185546875], [0.8121004104614258, 3.2863271236419678, 6.0204315185546875], [0.5621004104614258, 3.2863271236419678, 6.0204315185546875], [0.3121004104614258, 3.2863271236419678, 6.0204315185546875], [0.06210041046142578, 3.2863271236419678, 6.0204315185546875], [-0.18789958953857422, 3.2863271236419678, 6.0204315185546875], [-0.4378995895385742, 3.2863271236419678, 6.0204315185546875], [-0.6793810725212097, 3.2863271236419678, 5.955726623535156], [-0.9208625555038452, 3.2863271236419678, 5.891021728515625], [-1.0458625555038452, 3.316431999206543, 5.674515247344971], [-1.1708625555038452, 3.3907470703125, 5.458008766174316], [-1.2958625555038452, 3.2863271236419678, 5.241502285003662], [-1.4208625555038452, 3.2863271236419678, 5.024995803833008], [-1.485567331314087, 3.2863271236419678, 4.783514499664307], [-1.5502721071243286, 3.2863271236419678, 4.5420331954956055], [-1.6149768829345703, 3.2863271236419678, 4.300551891326904], [-1.7399768829345703, 3.2863271236419678, 4.08404541015625], [-1.804681658744812, 3.2863271236419678, 3.8425638675689697], [-1.8693864345550537, 3.2863271236419678, 3.6010823249816895], [-1.9340912103652954, 3.2863271236419678, 3.359600782394409], [-1.998795986175537, 3.2863271236419678, 3.118119239807129], [-2.0635006427764893, 3.2863271236419678, 2.8766376972198486], [-2.1282052993774414, 3.2863271236419678, 2.6351561546325684], [-2.1929099559783936, 3.2863271236419678, 2.393674612045288], [-2.2576146125793457, 3.2863271236419678, 2.152193069458008], [-2.322319269180298, 3.2863271236419678, 1.910711646080017], [-2.38702392578125, 3.2863271236419678, 1.6692302227020264], [-2.451728582382202, 3.3123271465301514, 1.4277487993240356], [-2.5164332389831543, 3.350170135498047, 1.186267375946045], [-2.5811378955841064, 3.3529138565063477, 0.9447859525680542], [-2.6458425521850586, 3.350755453109741, 0.7033045291900635], [-2.7708425521850586, 3.351675510406494, 0.48679816722869873], [-2.9476191997528076, 3.3469672203063965, 0.31002146005630493], [-3.1243958473205566, 3.341737747192383, 0.13324475288391113], [-3.3011724948883057, 3.3364920616149902, -0.043531954288482666], [-3.4779491424560547, 3.3312463760375977, -0.22030866146087646], [-3.6547257900238037, 3.3923516273498535, -0.39708536863327026], [-3.8315024375915527, 3.4863269329071045, -0.5738620758056641], [-3.9565024375915527, 3.4863269329071045, -0.7903684377670288], [-4.133279323577881, 3.4863269329071045, -0.9671451449394226], [-4.349785804748535, 3.4863269329071045, -1.0921452045440674], [-4.5662922859191895, 3.4863269329071045, -1.2171452045440674], [-4.782798767089844, 3.4863269329071045, -1.3421452045440674], [-5.024280071258545, 3.4863269329071045, -1.406849980354309], [-5.265761375427246, 3.4863269329071045, -1.4715547561645508], [-5.507242679595947, 3.4863269329071045, -1.5362595319747925], [-5.748723983764648, 3.4863269329071045, -1.6009643077850342]]", "gt_actions": "[1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 735, "episode_id": "736", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk out of the room and take a left to walk down the hallway. Take another right, and continue to walk down the hallway towards the staircase. Walk to the staircase that leads downstairs and stop right at the top of them. ", "start_position": [1.9415099620819092, 3.3788797855377197, 7.369420051574707], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-6.086400032043457, 3.4863269329071045, -1.7759599685668945], "goal_radius": 3.0, "reference_path": "[[1.9415099620819092, 3.3788797855377197, 7.369420051574707], [1.1945199966430664, 3.2863271236419678, 5.788609981536865], [-1.176110029220581, 3.2863271236419678, 5.854939937591553], [-1.8752399682998657, 3.2863271236419678, 3.783220052719116], [-2.8769099712371826, 3.358274221420288, 0.2591780126094818], [-4.415550231933594, 3.4863269329071045, -1.225640058517456], [-6.086400032043457, 3.4863269329071045, -1.7759599685668945]]", "geodesic_distance": 12.70328426361084, "gt_locations": "[[1.9415099620819092, 3.3788797855377197, 7.369420051574707], [1.8165099620819092, 3.365682363510132, 7.152913570404053], [1.6915099620819092, 3.3101348876953125, 6.936407089233398], [1.5665099620819092, 3.2863271236419678, 6.719900608062744], [1.4415099620819092, 3.2863271236419678, 6.50339412689209], [1.3768051862716675, 3.2863271236419678, 6.261912822723389], [1.3121004104614258, 3.2863271236419678, 6.0204315185546875], [1.0621004104614258, 3.2863271236419678, 6.0204315185546875], [0.8121004104614258, 3.2863271236419678, 6.0204315185546875], [0.5621004104614258, 3.2863271236419678, 6.0204315185546875], [0.3121004104614258, 3.2863271236419678, 6.0204315185546875], [0.06210041046142578, 3.2863271236419678, 6.0204315185546875], [-0.18789958953857422, 3.2863271236419678, 6.0204315185546875], [-0.4378995895385742, 3.2863271236419678, 6.0204315185546875], [-0.6793810725212097, 3.2863271236419678, 5.955726623535156], [-0.9208625555038452, 3.2863271236419678, 5.891021728515625], [-1.0458625555038452, 3.316431999206543, 5.674515247344971], [-1.1708625555038452, 3.3907470703125, 5.458008766174316], [-1.2958625555038452, 3.2863271236419678, 5.241502285003662], [-1.4208625555038452, 3.2863271236419678, 5.024995803833008], [-1.485567331314087, 3.2863271236419678, 4.783514499664307], [-1.5502721071243286, 3.2863271236419678, 4.5420331954956055], [-1.6149768829345703, 3.2863271236419678, 4.300551891326904], [-1.7399768829345703, 3.2863271236419678, 4.08404541015625], [-1.804681658744812, 3.2863271236419678, 3.8425638675689697], [-1.8693864345550537, 3.2863271236419678, 3.6010823249816895], [-1.9340912103652954, 3.2863271236419678, 3.359600782394409], [-1.998795986175537, 3.2863271236419678, 3.118119239807129], [-2.0635006427764893, 3.2863271236419678, 2.8766376972198486], [-2.1282052993774414, 3.2863271236419678, 2.6351561546325684], [-2.1929099559783936, 3.2863271236419678, 2.393674612045288], [-2.2576146125793457, 3.2863271236419678, 2.152193069458008], [-2.322319269180298, 3.2863271236419678, 1.910711646080017], [-2.38702392578125, 3.2863271236419678, 1.6692302227020264], [-2.451728582382202, 3.3123271465301514, 1.4277487993240356], [-2.5164332389831543, 3.350170135498047, 1.186267375946045], [-2.5811378955841064, 3.3529138565063477, 0.9447859525680542], [-2.6458425521850586, 3.350755453109741, 0.7033045291900635], [-2.7708425521850586, 3.351675510406494, 0.48679816722869873], [-2.9476191997528076, 3.3469672203063965, 0.31002146005630493], [-3.1243958473205566, 3.341737747192383, 0.13324475288391113], [-3.3011724948883057, 3.3364920616149902, -0.043531954288482666], [-3.4779491424560547, 3.3312463760375977, -0.22030866146087646], [-3.6547257900238037, 3.3923516273498535, -0.39708536863327026], [-3.8315024375915527, 3.4863269329071045, -0.5738620758056641], [-3.9565024375915527, 3.4863269329071045, -0.7903684377670288], [-4.133279323577881, 3.4863269329071045, -0.9671451449394226], [-4.349785804748535, 3.4863269329071045, -1.0921452045440674], [-4.5662922859191895, 3.4863269329071045, -1.2171452045440674], [-4.782798767089844, 3.4863269329071045, -1.3421452045440674], [-5.024280071258545, 3.4863269329071045, -1.406849980354309], [-5.265761375427246, 3.4863269329071045, -1.4715547561645508], [-5.507242679595947, 3.4863269329071045, -1.5362595319747925], [-5.748723983764648, 3.4863269329071045, -1.6009643077850342]]", "gt_actions": "[1, 1, 1, 1, 3, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 2, 1, 1, 1, 2, 1, 1, 1, 1, 0]"}
{"id": 736, "episode_id": "737", "scene_id": "5q7pvUzZiYa", "instruction": "Face with the staircase on the left and the paintings on the right. Walk down the hallway through the door towards the bed. Turn left after passing through door and stop where the socks are hanging on the right. ", "start_position": [12.781700134277344, 0.003425121307373047, -2.692850112915039], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [19.006000518798828, 0.003425121307373047, -5.165440082550049], "goal_radius": 3.0, "reference_path": "[[12.781700134277344, 0.003425121307373047, -2.692850112915039], [14.74370002746582, 0.1013546958565712, -2.6431400775909424], [15.290300369262695, 0.05602216348052025, -2.6399500370025635], [16.443199157714844, 0.003425121307373047, -2.8714499473571777], [16.82550048828125, 0.003425121307373047, -3.7750000953674316], [19.006000518798828, 0.003425121307373047, -5.165440082550049]]", "geodesic_distance": 7.026664733886719, "gt_locations": "[[12.781700134277344, 0.003425121307373047, -2.692850112915039], [13.031700134277344, 0.003425121307373047, -2.692850112915039], [13.281700134277344, 0.003425121307373047, -2.692850112915039], [13.531700134277344, 0.003425121307373047, -2.692850112915039], [13.781700134277344, 0.003425121307373047, -2.692850112915039], [14.031700134277344, 0.003425121307373047, -2.692850112915039], [14.281700134277344, 0.11181996762752533, -2.692850112915039], [14.531700134277344, 0.11181996762752533, -2.692850112915039], [14.781700134277344, 0.11181996762752533, -2.692850112915039], [15.031700134277344, 0.11181996762752533, -2.692850112915039], [15.281700134277344, 0.021654337644577026, -2.692850112915039], [15.531700134277344, 0.003425121307373047, -2.692850112915039], [15.773181915283203, 0.003425121307373047, -2.757554769515991], [16.023181915283203, 0.003425121307373047, -2.757554769515991], [16.19995880126953, 0.003425121307373047, -2.9343314170837402], [16.355091094970703, 0.003425121307373047, -3.1456706523895264], [16.480091094970703, 0.003425121307373047, -3.3621768951416016], [16.65686798095703, 0.003425121307373047, -3.5389535427093506], [16.83364486694336, 0.003425121307373047, -3.7157301902770996], [17.010421752929688, 0.003425121307373047, -3.8925068378448486], [17.187198638916016, 0.003425121307373047, -4.069283485412598], [17.363975524902344, 0.003425121307373047, -4.246060371398926], [17.580482482910156, 0.003425121307373047, -4.371060371398926], [17.757259368896484, 0.003425121307373047, -4.547837257385254], [17.973766326904297, 0.003425121307373047, -4.672837257385254], [18.19027328491211, 0.003425121307373047, -4.797837257385254], [18.406780242919922, 0.003425121307373047, -4.922837257385254], [18.623287200927734, 0.003425121307373047, -5.047837257385254]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 1, 2, 2, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 737, "episode_id": "738", "scene_id": "5q7pvUzZiYa", "instruction": "Walk into the bedroom, and immediately take a left into the closet. Once inside, continue walking until you reach the first shoe rack on your left, then stop. ", "start_position": [12.781700134277344, 0.003425121307373047, -2.692850112915039], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [19.006000518798828, 0.003425121307373047, -5.165440082550049], "goal_radius": 3.0, "reference_path": "[[12.781700134277344, 0.003425121307373047, -2.692850112915039], [14.74370002746582, 0.1013546958565712, -2.6431400775909424], [15.290300369262695, 0.05602216348052025, -2.6399500370025635], [16.443199157714844, 0.003425121307373047, -2.8714499473571777], [16.82550048828125, 0.003425121307373047, -3.7750000953674316], [19.006000518798828, 0.003425121307373047, -5.165440082550049]]", "geodesic_distance": 7.026664733886719, "gt_locations": "[[12.781700134277344, 0.003425121307373047, -2.692850112915039], [13.031700134277344, 0.003425121307373047, -2.692850112915039], [13.281700134277344, 0.003425121307373047, -2.692850112915039], [13.531700134277344, 0.003425121307373047, -2.692850112915039], [13.781700134277344, 0.003425121307373047, -2.692850112915039], [14.031700134277344, 0.003425121307373047, -2.692850112915039], [14.281700134277344, 0.11181996762752533, -2.692850112915039], [14.531700134277344, 0.11181996762752533, -2.692850112915039], [14.781700134277344, 0.11181996762752533, -2.692850112915039], [15.031700134277344, 0.11181996762752533, -2.692850112915039], [15.281700134277344, 0.021654337644577026, -2.692850112915039], [15.531700134277344, 0.003425121307373047, -2.692850112915039], [15.773181915283203, 0.003425121307373047, -2.757554769515991], [16.023181915283203, 0.003425121307373047, -2.757554769515991], [16.19995880126953, 0.003425121307373047, -2.9343314170837402], [16.355091094970703, 0.003425121307373047, -3.1456706523895264], [16.480091094970703, 0.003425121307373047, -3.3621768951416016], [16.65686798095703, 0.003425121307373047, -3.5389535427093506], [16.83364486694336, 0.003425121307373047, -3.7157301902770996], [17.010421752929688, 0.003425121307373047, -3.8925068378448486], [17.187198638916016, 0.003425121307373047, -4.069283485412598], [17.363975524902344, 0.003425121307373047, -4.246060371398926], [17.580482482910156, 0.003425121307373047, -4.371060371398926], [17.757259368896484, 0.003425121307373047, -4.547837257385254], [17.973766326904297, 0.003425121307373047, -4.672837257385254], [18.19027328491211, 0.003425121307373047, -4.797837257385254], [18.406780242919922, 0.003425121307373047, -4.922837257385254], [18.623287200927734, 0.003425121307373047, -5.047837257385254]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 1, 2, 2, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 738, "episode_id": "739", "scene_id": "5q7pvUzZiYa", "instruction": "Head past the stairs and into the bedroom.  Go left behind the bed and stop in the hall with shoes and clothes. ", "start_position": [12.781700134277344, 0.003425121307373047, -2.692850112915039], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [19.006000518798828, 0.003425121307373047, -5.165440082550049], "goal_radius": 3.0, "reference_path": "[[12.781700134277344, 0.003425121307373047, -2.692850112915039], [14.74370002746582, 0.1013546958565712, -2.6431400775909424], [15.290300369262695, 0.05602216348052025, -2.6399500370025635], [16.443199157714844, 0.003425121307373047, -2.8714499473571777], [16.82550048828125, 0.003425121307373047, -3.7750000953674316], [19.006000518798828, 0.003425121307373047, -5.165440082550049]]", "geodesic_distance": 7.026664733886719, "gt_locations": "[[12.781700134277344, 0.003425121307373047, -2.692850112915039], [13.031700134277344, 0.003425121307373047, -2.692850112915039], [13.281700134277344, 0.003425121307373047, -2.692850112915039], [13.531700134277344, 0.003425121307373047, -2.692850112915039], [13.781700134277344, 0.003425121307373047, -2.692850112915039], [14.031700134277344, 0.003425121307373047, -2.692850112915039], [14.281700134277344, 0.11181996762752533, -2.692850112915039], [14.531700134277344, 0.11181996762752533, -2.692850112915039], [14.781700134277344, 0.11181996762752533, -2.692850112915039], [15.031700134277344, 0.11181996762752533, -2.692850112915039], [15.281700134277344, 0.021654337644577026, -2.692850112915039], [15.531700134277344, 0.003425121307373047, -2.692850112915039], [15.773181915283203, 0.003425121307373047, -2.757554769515991], [16.023181915283203, 0.003425121307373047, -2.757554769515991], [16.19995880126953, 0.003425121307373047, -2.9343314170837402], [16.355091094970703, 0.003425121307373047, -3.1456706523895264], [16.480091094970703, 0.003425121307373047, -3.3621768951416016], [16.65686798095703, 0.003425121307373047, -3.5389535427093506], [16.83364486694336, 0.003425121307373047, -3.7157301902770996], [17.010421752929688, 0.003425121307373047, -3.8925068378448486], [17.187198638916016, 0.003425121307373047, -4.069283485412598], [17.363975524902344, 0.003425121307373047, -4.246060371398926], [17.580482482910156, 0.003425121307373047, -4.371060371398926], [17.757259368896484, 0.003425121307373047, -4.547837257385254], [17.973766326904297, 0.003425121307373047, -4.672837257385254], [18.19027328491211, 0.003425121307373047, -4.797837257385254], [18.406780242919922, 0.003425121307373047, -4.922837257385254], [18.623287200927734, 0.003425121307373047, -5.047837257385254]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 1, 2, 2, 2, 1, 2, 2, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 2, 1, 3, 1, 1, 1, 1, 0]"}
{"id": 739, "episode_id": "740", "scene_id": "VzqfbhrpDEA", "instruction": "Walk toward the stairs and right out of the bathroom. Walk around to the other side of the tub and stop. ", "start_position": [-30.601299285888672, 0.09100902080535889, -0.5572469830513], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-28.517799377441406, 0.09100902080535889, 1.5675300359725952], "goal_radius": 3.0, "reference_path": "[[-30.601299285888672, 0.09100902080535889, -0.5572469830513], [-30.82159996032715, 0.09100902080535889, -1.7180099487304688], [-29.331100463867188, 0.09100902080535889, -1.5980099439620972], [-27.430400848388672, 0.09100902080535889, 0.3751299977302551], [-28.517799377441406, 0.09100902080535889, 1.5675300359725952]]", "geodesic_distance": 5.583713054656982, "gt_locations": "[[-30.601299285888672, 0.09100902080535889, -0.5572469830513], [-30.666004180908203, 0.09100902080535889, -0.7987284660339355], [-30.730709075927734, 0.09100902080535889, -1.0402098894119263], [-30.795413970947266, 0.09100902080535889, -1.281691312789917], [-30.578907012939453, 0.09100902080535889, -1.406691312789917], [-30.36240005493164, 0.09100902080535889, -1.531691312789917], [-30.12091827392578, 0.09100902080535889, -1.5963960886001587], [-29.87091827392578, 0.09100902080535889, -1.5963960886001587], [-29.62091827392578, 0.09100902080535889, -1.5963960886001587], [-29.379436492919922, 0.09100902080535889, -1.531691312789917], [-29.137954711914062, 0.09100902080535889, -1.4669865369796753], [-28.92144775390625, 0.09100902080535889, -1.3419865369796753], [-28.73052978515625, 0.09100902080535889, -1.177582859992981], [-28.553752899169922, 0.09100902080535889, -1.000806212425232], [-28.376976013183594, 0.09100902080535889, -0.8240295648574829], [-28.200199127197266, 0.09100902080535889, -0.6472529172897339], [-28.023422241210938, 0.09100902080535889, -0.4704762399196625], [-27.898422241210938, 0.09100902080535889, -0.25396984815597534], [-27.773422241210938, 0.09100902080535889, -0.03746345639228821], [-27.59664535522461, 0.09100902080535889, 0.1393132209777832], [-27.72164535522461, 0.09100902080535889, 0.35581961274147034], [-27.84664535522461, 0.09100902080535889, 0.5723260045051575], [-27.97164535522461, 0.09100902080535889, 0.788832426071167], [-28.09664535522461, 0.09100902080535889, 1.0053387880325317], [-28.22164535522461, 0.09100902080535889, 1.2218451499938965]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 3, 1, 3, 1, 1, 3, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 740, "episode_id": "741", "scene_id": "VzqfbhrpDEA", "instruction": "Exit the shower. Turn right after you pass the television. Wait near the doorway to the gym. ", "start_position": [-30.601299285888672, 0.09100902080535889, -0.5572469830513], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-28.517799377441406, 0.09100902080535889, 1.5675300359725952], "goal_radius": 3.0, "reference_path": "[[-30.601299285888672, 0.09100902080535889, -0.5572469830513], [-30.82159996032715, 0.09100902080535889, -1.7180099487304688], [-29.331100463867188, 0.09100902080535889, -1.5980099439620972], [-27.430400848388672, 0.09100902080535889, 0.3751299977302551], [-28.517799377441406, 0.09100902080535889, 1.5675300359725952]]", "geodesic_distance": 5.583713054656982, "gt_locations": "[[-30.601299285888672, 0.09100902080535889, -0.5572469830513], [-30.666004180908203, 0.09100902080535889, -0.7987284660339355], [-30.730709075927734, 0.09100902080535889, -1.0402098894119263], [-30.795413970947266, 0.09100902080535889, -1.281691312789917], [-30.578907012939453, 0.09100902080535889, -1.406691312789917], [-30.36240005493164, 0.09100902080535889, -1.531691312789917], [-30.12091827392578, 0.09100902080535889, -1.5963960886001587], [-29.87091827392578, 0.09100902080535889, -1.5963960886001587], [-29.62091827392578, 0.09100902080535889, -1.5963960886001587], [-29.379436492919922, 0.09100902080535889, -1.531691312789917], [-29.137954711914062, 0.09100902080535889, -1.4669865369796753], [-28.92144775390625, 0.09100902080535889, -1.3419865369796753], [-28.73052978515625, 0.09100902080535889, -1.177582859992981], [-28.553752899169922, 0.09100902080535889, -1.000806212425232], [-28.376976013183594, 0.09100902080535889, -0.8240295648574829], [-28.200199127197266, 0.09100902080535889, -0.6472529172897339], [-28.023422241210938, 0.09100902080535889, -0.4704762399196625], [-27.898422241210938, 0.09100902080535889, -0.25396984815597534], [-27.773422241210938, 0.09100902080535889, -0.03746345639228821], [-27.59664535522461, 0.09100902080535889, 0.1393132209777832], [-27.72164535522461, 0.09100902080535889, 0.35581961274147034], [-27.84664535522461, 0.09100902080535889, 0.5723260045051575], [-27.97164535522461, 0.09100902080535889, 0.788832426071167], [-28.09664535522461, 0.09100902080535889, 1.0053387880325317], [-28.22164535522461, 0.09100902080535889, 1.2218451499938965]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 3, 1, 3, 1, 1, 3, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 741, "episode_id": "742", "scene_id": "VzqfbhrpDEA", "instruction": "Turn around and exit the shower. Turn right to enter the bathroom. Passed the tub and sink and stop near the tub and the two doorways. ", "start_position": [-30.601299285888672, 0.09100902080535889, -0.5572469830513], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [-28.517799377441406, 0.09100902080535889, 1.5675300359725952], "goal_radius": 3.0, "reference_path": "[[-30.601299285888672, 0.09100902080535889, -0.5572469830513], [-30.82159996032715, 0.09100902080535889, -1.7180099487304688], [-29.331100463867188, 0.09100902080535889, -1.5980099439620972], [-27.430400848388672, 0.09100902080535889, 0.3751299977302551], [-28.517799377441406, 0.09100902080535889, 1.5675300359725952]]", "geodesic_distance": 5.583713054656982, "gt_locations": "[[-30.601299285888672, 0.09100902080535889, -0.5572469830513], [-30.666004180908203, 0.09100902080535889, -0.7987284660339355], [-30.730709075927734, 0.09100902080535889, -1.0402098894119263], [-30.795413970947266, 0.09100902080535889, -1.281691312789917], [-30.578907012939453, 0.09100902080535889, -1.406691312789917], [-30.36240005493164, 0.09100902080535889, -1.531691312789917], [-30.12091827392578, 0.09100902080535889, -1.5963960886001587], [-29.87091827392578, 0.09100902080535889, -1.5963960886001587], [-29.62091827392578, 0.09100902080535889, -1.5963960886001587], [-29.379436492919922, 0.09100902080535889, -1.531691312789917], [-29.137954711914062, 0.09100902080535889, -1.4669865369796753], [-28.92144775390625, 0.09100902080535889, -1.3419865369796753], [-28.73052978515625, 0.09100902080535889, -1.177582859992981], [-28.553752899169922, 0.09100902080535889, -1.000806212425232], [-28.376976013183594, 0.09100902080535889, -0.8240295648574829], [-28.200199127197266, 0.09100902080535889, -0.6472529172897339], [-28.023422241210938, 0.09100902080535889, -0.4704762399196625], [-27.898422241210938, 0.09100902080535889, -0.25396984815597534], [-27.773422241210938, 0.09100902080535889, -0.03746345639228821], [-27.59664535522461, 0.09100902080535889, 0.1393132209777832], [-27.72164535522461, 0.09100902080535889, 0.35581961274147034], [-27.84664535522461, 0.09100902080535889, 0.5723260045051575], [-27.97164535522461, 0.09100902080535889, 0.788832426071167], [-28.09664535522461, 0.09100902080535889, 1.0053387880325317], [-28.22164535522461, 0.09100902080535889, 1.2218451499938965]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 3, 1, 3, 1, 1, 3, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 3, 3, 3, 3, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 742, "episode_id": "743", "scene_id": "e9zR4mvMWw7", "instruction": "Walk out of the bedroom and turn left. Turn right and walk down the hall. Walk across the hall and step into the bedroom and stop. ", "start_position": [8.127280235290527, 2.8866939544677734, 3.0104401111602783], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [13.553000450134277, 2.8866939544677734, 0.7388880252838135], "goal_radius": 3.0, "reference_path": "[[8.127280235290527, 2.8866939544677734, 3.0104401111602783], [9.705739974975586, 2.8866939544677734, 2.7441599369049072], [11.964300155639648, 2.8866939544677734, 1.0495400428771973], [12.558899879455566, 2.8866939544677734, 0.8797399997711182], [13.553000450134277, 2.8866939544677734, 0.7388880252838135]]", "geodesic_distance": 5.942492485046387, "gt_locations": "[[8.127280235290527, 2.8866939544677734, 3.0104401111602783], [8.368762016296387, 2.8866939544677734, 2.945735454559326], [8.610243797302246, 2.8866939544677734, 2.881030797958374], [8.851725578308105, 2.8866939544677734, 2.816326141357422], [9.101725578308105, 2.8866939544677734, 2.816326141357422], [9.351725578308105, 2.8866939544677734, 2.816326141357422], [9.568231582641602, 2.8866939544677734, 2.691326141357422], [9.784737586975098, 2.8866939544677734, 2.566326141357422], [10.001243591308594, 2.8866939544677734, 2.441326141357422], [10.21774959564209, 2.8866939544677734, 2.316326141357422], [10.434255599975586, 2.8866939544677734, 2.191326141357422], [10.611032485961914, 2.8866939544677734, 2.014549493789673], [10.787809371948242, 2.8866939544677734, 1.8377728462219238], [10.96458625793457, 2.8866939544677734, 1.6609961986541748], [11.141363143920898, 2.8866939544677734, 1.4842195510864258], [11.357869148254395, 2.8866939544677734, 1.3592195510864258], [11.57437515258789, 2.8866939544677734, 1.2342195510864258], [11.790881156921387, 2.8866939544677734, 1.1092195510864258], [12.032362937927246, 2.8866939544677734, 1.044514775276184], [12.273844718933105, 2.8866939544677734, 0.9798099994659424], [12.515326499938965, 2.8866939544677734, 0.9151052236557007], [12.765326499938965, 2.8866939544677734, 0.9151052236557007], [13.015326499938965, 2.8866939544677734, 0.9151052236557007], [13.256808280944824, 2.8866939544677734, 0.850400447845459]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 2, 1, 0]"}
{"id": 743, "episode_id": "744", "scene_id": "e9zR4mvMWw7", "instruction": "Exit the bedroom and enter the first door on the opposite wall to the left. Stop inside the other bedroom. ", "start_position": [8.127280235290527, 2.8866939544677734, 3.0104401111602783], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [13.553000450134277, 2.8866939544677734, 0.7388880252838135], "goal_radius": 3.0, "reference_path": "[[8.127280235290527, 2.8866939544677734, 3.0104401111602783], [9.705739974975586, 2.8866939544677734, 2.7441599369049072], [11.964300155639648, 2.8866939544677734, 1.0495400428771973], [12.558899879455566, 2.8866939544677734, 0.8797399997711182], [13.553000450134277, 2.8866939544677734, 0.7388880252838135]]", "geodesic_distance": 5.942492485046387, "gt_locations": "[[8.127280235290527, 2.8866939544677734, 3.0104401111602783], [8.368762016296387, 2.8866939544677734, 2.945735454559326], [8.610243797302246, 2.8866939544677734, 2.881030797958374], [8.851725578308105, 2.8866939544677734, 2.816326141357422], [9.101725578308105, 2.8866939544677734, 2.816326141357422], [9.351725578308105, 2.8866939544677734, 2.816326141357422], [9.568231582641602, 2.8866939544677734, 2.691326141357422], [9.784737586975098, 2.8866939544677734, 2.566326141357422], [10.001243591308594, 2.8866939544677734, 2.441326141357422], [10.21774959564209, 2.8866939544677734, 2.316326141357422], [10.434255599975586, 2.8866939544677734, 2.191326141357422], [10.611032485961914, 2.8866939544677734, 2.014549493789673], [10.787809371948242, 2.8866939544677734, 1.8377728462219238], [10.96458625793457, 2.8866939544677734, 1.6609961986541748], [11.141363143920898, 2.8866939544677734, 1.4842195510864258], [11.357869148254395, 2.8866939544677734, 1.3592195510864258], [11.57437515258789, 2.8866939544677734, 1.2342195510864258], [11.790881156921387, 2.8866939544677734, 1.1092195510864258], [12.032362937927246, 2.8866939544677734, 1.044514775276184], [12.273844718933105, 2.8866939544677734, 0.9798099994659424], [12.515326499938965, 2.8866939544677734, 0.9151052236557007], [12.765326499938965, 2.8866939544677734, 0.9151052236557007], [13.015326499938965, 2.8866939544677734, 0.9151052236557007], [13.256808280944824, 2.8866939544677734, 0.850400447845459]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 2, 1, 0]"}
{"id": 744, "episode_id": "745", "scene_id": "e9zR4mvMWw7", "instruction": "Go around the bed and into the hallway. Go straight passed the stairs and stop in the doorway on the left. ", "start_position": [8.127280235290527, 2.8866939544677734, 3.0104401111602783], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [13.553000450134277, 2.8866939544677734, 0.7388880252838135], "goal_radius": 3.0, "reference_path": "[[8.127280235290527, 2.8866939544677734, 3.0104401111602783], [9.705739974975586, 2.8866939544677734, 2.7441599369049072], [11.964300155639648, 2.8866939544677734, 1.0495400428771973], [12.558899879455566, 2.8866939544677734, 0.8797399997711182], [13.553000450134277, 2.8866939544677734, 0.7388880252838135]]", "geodesic_distance": 5.942492485046387, "gt_locations": "[[8.127280235290527, 2.8866939544677734, 3.0104401111602783], [8.368762016296387, 2.8866939544677734, 2.945735454559326], [8.610243797302246, 2.8866939544677734, 2.881030797958374], [8.851725578308105, 2.8866939544677734, 2.816326141357422], [9.101725578308105, 2.8866939544677734, 2.816326141357422], [9.351725578308105, 2.8866939544677734, 2.816326141357422], [9.568231582641602, 2.8866939544677734, 2.691326141357422], [9.784737586975098, 2.8866939544677734, 2.566326141357422], [10.001243591308594, 2.8866939544677734, 2.441326141357422], [10.21774959564209, 2.8866939544677734, 2.316326141357422], [10.434255599975586, 2.8866939544677734, 2.191326141357422], [10.611032485961914, 2.8866939544677734, 2.014549493789673], [10.787809371948242, 2.8866939544677734, 1.8377728462219238], [10.96458625793457, 2.8866939544677734, 1.6609961986541748], [11.141363143920898, 2.8866939544677734, 1.4842195510864258], [11.357869148254395, 2.8866939544677734, 1.3592195510864258], [11.57437515258789, 2.8866939544677734, 1.2342195510864258], [11.790881156921387, 2.8866939544677734, 1.1092195510864258], [12.032362937927246, 2.8866939544677734, 1.044514775276184], [12.273844718933105, 2.8866939544677734, 0.9798099994659424], [12.515326499938965, 2.8866939544677734, 0.9151052236557007], [12.765326499938965, 2.8866939544677734, 0.9151052236557007], [13.015326499938965, 2.8866939544677734, 0.9151052236557007], [13.256808280944824, 2.8866939544677734, 0.850400447845459]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 1, 3, 1, 1, 2, 1, 0]"}
{"id": 745, "episode_id": "746", "scene_id": "r1Q1Z4BcV1o", "instruction": "Walk towards the small table in the center of the room. Enter the doorway on the right. Turn right when you get to the fountain and enter the door. 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{"id": 746, "episode_id": "747", "scene_id": "r1Q1Z4BcV1o", "instruction": "Go straight by the fireplace and passed the door on the right. Walk towards the next door on the right and turn right. Enter the door on the left and stop. 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{"id": 747, "episode_id": "748", "scene_id": "r1Q1Z4BcV1o", "instruction": "Walk past the wooden stairs that go up. Go stop in the women's bathroom doorway. 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{"id": 748, "episode_id": "749", "scene_id": "PX4nDJXEHrG", "instruction": "Enter the door on the right. Follow the right wall and stop once you've entered the doorway. ", "start_position": [-9.426969528198242, 3.115546703338623, -2.0102601051330566], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-4.421830177307129, 3.115546703338623, -1.0120999813079834], "goal_radius": 3.0, "reference_path": "[[-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-6.302649974822998, 3.115546703338623, -3.1158199310302734], [-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-3.213900089263916, 3.115546703338623, -2.64057993888855], [-3.2606101036071777, 3.115546703338623, -1.069390058517456], [-4.421830177307129, 3.115546703338623, -1.0120999813079834]]", "geodesic_distance": 7.8161234855651855, "gt_locations": "[[-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-9.185487747192383, 3.115546703338623, -2.074964761734009], [-8.944005966186523, 3.115546703338623, -2.139669418334961], [-8.702524185180664, 3.115546703338623, -2.204374074935913], [-8.461042404174805, 3.115546703338623, -2.2690787315368652], [-8.219560623168945, 3.115546703338623, -2.3337833881378174], [-7.978079319000244, 3.115546703338623, -2.3984880447387695], [-7.736598014831543, 3.115546703338623, -2.4631927013397217], [-7.495116710662842, 3.115546703338623, -2.527897357940674], [-7.2786102294921875, 3.115546703338623, -2.652897357940674], [-7.062103748321533, 3.115546703338623, -2.777897357940674], [-6.845597267150879, 3.115546703338623, -2.902897357940674], [-6.629090785980225, 3.115546703338623, -3.027897357940674], [-6.387609481811523, 3.115546703338623, -3.092602014541626], [-6.137609481811523, 3.115546703338623, -3.092602014541626], [-5.887609481811523, 3.115546703338623, -3.092602014541626], [-5.637609481811523, 3.115546703338623, -3.092602014541626], [-5.396128177642822, 3.115546703338623, -3.157306671142578], [-5.154646873474121, 3.115546703338623, -3.092601776123047], [-4.91316556930542, 3.115546703338623, -3.0278968811035156], [-4.671684265136719, 3.115546703338623, -2.9631919860839844], [-4.430202960968018, 3.115546703338623, -2.898487091064453], [-4.188721656799316, 3.115546703338623, -2.833782196044922], [-3.947240114212036, 3.115546703338623, -2.7690773010253906], [-3.705758571624756, 3.115546703338623, -2.7043724060058594], [-3.6410539150238037, 3.115546703338623, -2.462890863418579], [-3.5763492584228516, 3.115546703338623, -2.221409320831299], [-3.5116446018218994, 3.115546703338623, -1.9799277782440186], [-3.4469399452209473, 3.115546703338623, -1.7384462356567383], [-3.382235288619995, 3.115546703338623, -1.496964693069458], [-3.5987415313720703, 3.115546703338623, -1.371964693069458], [-3.8152477741241455, 3.115546703338623, -1.246964693069458], [-4.031754016876221, 3.115546703338623, -1.121964693069458]]", "gt_actions": "[2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 749, "episode_id": "750", "scene_id": "PX4nDJXEHrG", "instruction": "Go straight ahead and enter the bedroom. Turn right then enter the next door and stop inside. ", "start_position": [-9.426969528198242, 3.115546703338623, -2.0102601051330566], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-4.421830177307129, 3.115546703338623, -1.0120999813079834], "goal_radius": 3.0, "reference_path": "[[-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-6.302649974822998, 3.115546703338623, -3.1158199310302734], [-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-3.213900089263916, 3.115546703338623, -2.64057993888855], [-3.2606101036071777, 3.115546703338623, -1.069390058517456], [-4.421830177307129, 3.115546703338623, -1.0120999813079834]]", "geodesic_distance": 7.8161234855651855, "gt_locations": "[[-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-9.185487747192383, 3.115546703338623, -2.074964761734009], [-8.944005966186523, 3.115546703338623, -2.139669418334961], [-8.702524185180664, 3.115546703338623, -2.204374074935913], [-8.461042404174805, 3.115546703338623, -2.2690787315368652], [-8.219560623168945, 3.115546703338623, -2.3337833881378174], [-7.978079319000244, 3.115546703338623, -2.3984880447387695], [-7.736598014831543, 3.115546703338623, -2.4631927013397217], [-7.495116710662842, 3.115546703338623, -2.527897357940674], [-7.2786102294921875, 3.115546703338623, -2.652897357940674], [-7.062103748321533, 3.115546703338623, -2.777897357940674], [-6.845597267150879, 3.115546703338623, -2.902897357940674], [-6.629090785980225, 3.115546703338623, -3.027897357940674], [-6.387609481811523, 3.115546703338623, -3.092602014541626], [-6.137609481811523, 3.115546703338623, -3.092602014541626], [-5.887609481811523, 3.115546703338623, -3.092602014541626], [-5.637609481811523, 3.115546703338623, -3.092602014541626], [-5.396128177642822, 3.115546703338623, -3.157306671142578], [-5.154646873474121, 3.115546703338623, -3.092601776123047], [-4.91316556930542, 3.115546703338623, -3.0278968811035156], [-4.671684265136719, 3.115546703338623, -2.9631919860839844], [-4.430202960968018, 3.115546703338623, -2.898487091064453], [-4.188721656799316, 3.115546703338623, -2.833782196044922], [-3.947240114212036, 3.115546703338623, -2.7690773010253906], [-3.705758571624756, 3.115546703338623, -2.7043724060058594], [-3.6410539150238037, 3.115546703338623, -2.462890863418579], [-3.5763492584228516, 3.115546703338623, -2.221409320831299], [-3.5116446018218994, 3.115546703338623, -1.9799277782440186], [-3.4469399452209473, 3.115546703338623, -1.7384462356567383], [-3.382235288619995, 3.115546703338623, -1.496964693069458], [-3.5987415313720703, 3.115546703338623, -1.371964693069458], [-3.8152477741241455, 3.115546703338623, -1.246964693069458], [-4.031754016876221, 3.115546703338623, -1.121964693069458]]", "gt_actions": "[2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 750, "episode_id": "751", "scene_id": "PX4nDJXEHrG", "instruction": "Go through the room passed the black chair on the left and into the doorway on the right, go straight into the bedroom, make a right and then another right into the doorway and take a step in and stop. ", "start_position": [-9.426969528198242, 3.115546703338623, -2.0102601051330566], "start_rotation": [-0.0, 0.7071067811865476, -0.0, -0.7071067811865475], "goal_position": [-4.421830177307129, 3.115546703338623, -1.0120999813079834], "goal_radius": 3.0, "reference_path": "[[-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-6.302649974822998, 3.115546703338623, -3.1158199310302734], [-4.906620025634766, 3.115546703338623, -3.2272400856018066], [-3.213900089263916, 3.115546703338623, -2.64057993888855], [-3.2606101036071777, 3.115546703338623, -1.069390058517456], [-4.421830177307129, 3.115546703338623, -1.0120999813079834]]", "geodesic_distance": 7.8161234855651855, "gt_locations": "[[-9.426969528198242, 3.115546703338623, -2.0102601051330566], [-9.185487747192383, 3.115546703338623, -2.074964761734009], [-8.944005966186523, 3.115546703338623, -2.139669418334961], [-8.702524185180664, 3.115546703338623, -2.204374074935913], [-8.461042404174805, 3.115546703338623, -2.2690787315368652], [-8.219560623168945, 3.115546703338623, -2.3337833881378174], [-7.978079319000244, 3.115546703338623, -2.3984880447387695], [-7.736598014831543, 3.115546703338623, -2.4631927013397217], [-7.495116710662842, 3.115546703338623, -2.527897357940674], [-7.2786102294921875, 3.115546703338623, -2.652897357940674], [-7.062103748321533, 3.115546703338623, -2.777897357940674], [-6.845597267150879, 3.115546703338623, -2.902897357940674], [-6.629090785980225, 3.115546703338623, -3.027897357940674], [-6.387609481811523, 3.115546703338623, -3.092602014541626], [-6.137609481811523, 3.115546703338623, -3.092602014541626], [-5.887609481811523, 3.115546703338623, -3.092602014541626], [-5.637609481811523, 3.115546703338623, -3.092602014541626], [-5.396128177642822, 3.115546703338623, -3.157306671142578], [-5.154646873474121, 3.115546703338623, -3.092601776123047], [-4.91316556930542, 3.115546703338623, -3.0278968811035156], [-4.671684265136719, 3.115546703338623, -2.9631919860839844], [-4.430202960968018, 3.115546703338623, -2.898487091064453], [-4.188721656799316, 3.115546703338623, -2.833782196044922], [-3.947240114212036, 3.115546703338623, -2.7690773010253906], [-3.705758571624756, 3.115546703338623, -2.7043724060058594], [-3.6410539150238037, 3.115546703338623, -2.462890863418579], [-3.5763492584228516, 3.115546703338623, -2.221409320831299], [-3.5116446018218994, 3.115546703338623, -1.9799277782440186], [-3.4469399452209473, 3.115546703338623, -1.7384462356567383], [-3.382235288619995, 3.115546703338623, -1.496964693069458], [-3.5987415313720703, 3.115546703338623, -1.371964693069458], [-3.8152477741241455, 3.115546703338623, -1.246964693069458], [-4.031754016876221, 3.115546703338623, -1.121964693069458]]", "gt_actions": "[2, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 1, 1, 1, 0]"}
{"id": 751, "episode_id": "752", "scene_id": "1pXnuDYAj8r", "instruction": "Exit laundry room and turn left.  Go down stairs.  At the bottom of the stairs turn right and then go straight into the bedroom.  Stop in the doorway of the bedroom. ", "start_position": [6.407670021057129, 3.514145851135254, -2.280019998550415], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [7.846320152282715, 0.11414599418640137, -7.36713981628418], "goal_radius": 3.0, "reference_path": "[[6.407670021057129, 3.514145851135254, -2.280019998550415], [9.927780151367188, 2.6300408840179443, -3.7776501178741455], [11.380599975585938, 1.834434986114502, -2.5129599571228027], [9.44890022277832, 0.9372111558914185, -2.5088400840759277], [7.578169822692871, 0.11414599418640137, -2.490380048751831], [7.736599922180176, 0.11414599418640137, -3.9872000217437744], [7.846320152282715, 0.11414599418640137, -7.36713981628418]]", "geodesic_distance": 13.65640640258789, "gt_locations": "[[6.407670021057129, 3.514145851135254, -2.280019998550415], [6.624176502227783, 3.514145851135254, -2.405019998550415], [6.865657806396484, 3.514145851135254, -2.469724655151367], [7.082164287567139, 3.514145851135254, -2.594724655151367], [7.298670768737793, 3.514145851135254, -2.719724655151367], [7.515177249908447, 3.514145851135254, -2.844724655151367], [7.731683731079102, 3.514145851135254, -2.969724655151367], [7.948190212249756, 3.514145851135254, -3.094724655151367], [8.16469669342041, 3.514145851135254, -3.219724655151367], [8.40617847442627, 3.514145851135254, -3.2844293117523193], [8.647660255432129, 3.514145851135254, -3.3491339683532715], [8.889142036437988, 3.3550426959991455, -3.4138386249542236], [9.130623817443848, 3.1880502700805664, -3.478543281555176], [9.372105598449707, 3.0190131664276123, -3.543247938156128], [9.613587379455566, 2.849975824356079, -3.60795259475708], [9.855069160461426, 2.680938720703125, -3.6726572513580322], [10.096550941467285, 2.511901378631592, -3.7373619079589844], [10.346550941467285, 2.3369014263153076, -3.7373619079589844], [10.596550941467285, 2.1619014739990234, -3.7373619079589844], [10.838032722473145, 1.9928641319274902, -3.672657012939453], [11.014809608459473, 1.914146065711975, -3.495880126953125], [11.118401527404785, 1.914146065711975, -3.26412034034729], [11.183106422424316, 1.914146065711975, -3.0226387977600098], [11.247811317443848, 1.8774584531784058, -2.7811572551727295], [11.006329536437988, 1.8841466903686523, -2.7164523601531982], [10.756329536437988, 1.8084810972213745, -2.7164523601531982], [10.506329536437988, 1.6599459648132324, -2.7164523601531982], [10.256329536437988, 1.4945247173309326, -2.7164523601531982], [10.006329536437988, 1.3175487518310547, -2.7164523601531982], [9.756329536437988, 1.1405727863311768, -2.7164523601531982], [9.506329536437988, 0.9635968208312988, -2.7164523601531982], [9.256329536437988, 0.7866207957267761, -2.7164523601531982], [9.006329536437988, 0.6096447706222534, -2.7164523601531982], [8.756329536437988, 0.43559929728507996, -2.7164523601531982], [8.506329536437988, 0.24540407955646515, -2.7164523601531982], [8.256329536437988, 0.11414599418640137, -2.7164523601531982], [8.014847755432129, 0.11414599418640137, -2.651747465133667], [7.950142860412598, 0.11414599418640137, -2.8932290077209473], [7.885437965393066, 0.11414599418640137, -3.1347105503082275], [7.820733070373535, 0.11414599418640137, -3.376192092895508], [7.756028175354004, 0.11414599418640137, -3.617673635482788], [7.756028175354004, 0.11414599418640137, -3.867673635482788], [7.756028175354004, 0.11414599418640137, -4.117673873901367], [7.756028175354004, 0.11414599418640137, -4.367673873901367], [7.756028175354004, 0.11414599418640137, -4.617673873901367], [7.756028175354004, 0.11414599418640137, -4.867673873901367], [7.756028175354004, 0.11414599418640137, -5.117673873901367], [7.756028175354004, 0.11414599418640137, -5.367673873901367], [7.756028175354004, 0.11414599418640137, -5.617673873901367], [7.756028175354004, 0.11414599418640137, -5.867673873901367], [7.756028175354004, 0.11414599418640137, -6.117673873901367], [7.756028175354004, 0.11414599418640137, -6.367673873901367], [7.756028175354004, 0.11414599418640137, -6.617673873901367], [7.756028175354004, 0.11414599418640137, -6.867673873901367], [7.820733070373535, 0.11414599418640137, -7.109155178070068]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 752, "episode_id": "753", "scene_id": "1pXnuDYAj8r", "instruction": "Turn around, go left to the stairway, go down the stairs and straight, take a right through the hallway, and then another right at the next hallway, follow it to the end, and stop at a bedroom with two leaves on the wall just through the doorway. ", "start_position": [6.407670021057129, 3.514145851135254, -2.280019998550415], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [7.846320152282715, 0.11414599418640137, -7.36713981628418], "goal_radius": 3.0, "reference_path": "[[6.407670021057129, 3.514145851135254, -2.280019998550415], [9.927780151367188, 2.6300408840179443, -3.7776501178741455], [11.380599975585938, 1.834434986114502, -2.5129599571228027], [9.44890022277832, 0.9372111558914185, -2.5088400840759277], [7.578169822692871, 0.11414599418640137, -2.490380048751831], [7.736599922180176, 0.11414599418640137, -3.9872000217437744], [7.846320152282715, 0.11414599418640137, -7.36713981628418]]", "geodesic_distance": 13.65640640258789, "gt_locations": "[[6.407670021057129, 3.514145851135254, -2.280019998550415], [6.624176502227783, 3.514145851135254, -2.405019998550415], [6.865657806396484, 3.514145851135254, -2.469724655151367], [7.082164287567139, 3.514145851135254, -2.594724655151367], [7.298670768737793, 3.514145851135254, -2.719724655151367], [7.515177249908447, 3.514145851135254, -2.844724655151367], [7.731683731079102, 3.514145851135254, -2.969724655151367], [7.948190212249756, 3.514145851135254, -3.094724655151367], [8.16469669342041, 3.514145851135254, -3.219724655151367], [8.40617847442627, 3.514145851135254, -3.2844293117523193], [8.647660255432129, 3.514145851135254, -3.3491339683532715], [8.889142036437988, 3.3550426959991455, -3.4138386249542236], [9.130623817443848, 3.1880502700805664, -3.478543281555176], [9.372105598449707, 3.0190131664276123, -3.543247938156128], [9.613587379455566, 2.849975824356079, -3.60795259475708], [9.855069160461426, 2.680938720703125, -3.6726572513580322], [10.096550941467285, 2.511901378631592, -3.7373619079589844], [10.346550941467285, 2.3369014263153076, -3.7373619079589844], [10.596550941467285, 2.1619014739990234, -3.7373619079589844], [10.838032722473145, 1.9928641319274902, -3.672657012939453], [11.014809608459473, 1.914146065711975, -3.495880126953125], [11.118401527404785, 1.914146065711975, -3.26412034034729], [11.183106422424316, 1.914146065711975, -3.0226387977600098], [11.247811317443848, 1.8774584531784058, -2.7811572551727295], [11.006329536437988, 1.8841466903686523, -2.7164523601531982], [10.756329536437988, 1.8084810972213745, -2.7164523601531982], [10.506329536437988, 1.6599459648132324, -2.7164523601531982], [10.256329536437988, 1.4945247173309326, -2.7164523601531982], [10.006329536437988, 1.3175487518310547, -2.7164523601531982], [9.756329536437988, 1.1405727863311768, -2.7164523601531982], [9.506329536437988, 0.9635968208312988, -2.7164523601531982], [9.256329536437988, 0.7866207957267761, -2.7164523601531982], [9.006329536437988, 0.6096447706222534, -2.7164523601531982], [8.756329536437988, 0.43559929728507996, -2.7164523601531982], [8.506329536437988, 0.24540407955646515, -2.7164523601531982], [8.256329536437988, 0.11414599418640137, -2.7164523601531982], [8.014847755432129, 0.11414599418640137, -2.651747465133667], [7.950142860412598, 0.11414599418640137, -2.8932290077209473], [7.885437965393066, 0.11414599418640137, -3.1347105503082275], [7.820733070373535, 0.11414599418640137, -3.376192092895508], [7.756028175354004, 0.11414599418640137, -3.617673635482788], [7.756028175354004, 0.11414599418640137, -3.867673635482788], [7.756028175354004, 0.11414599418640137, -4.117673873901367], [7.756028175354004, 0.11414599418640137, -4.367673873901367], [7.756028175354004, 0.11414599418640137, -4.617673873901367], [7.756028175354004, 0.11414599418640137, -4.867673873901367], [7.756028175354004, 0.11414599418640137, -5.117673873901367], [7.756028175354004, 0.11414599418640137, -5.367673873901367], [7.756028175354004, 0.11414599418640137, -5.617673873901367], [7.756028175354004, 0.11414599418640137, -5.867673873901367], [7.756028175354004, 0.11414599418640137, -6.117673873901367], [7.756028175354004, 0.11414599418640137, -6.367673873901367], [7.756028175354004, 0.11414599418640137, -6.617673873901367], [7.756028175354004, 0.11414599418640137, -6.867673873901367], [7.820733070373535, 0.11414599418640137, -7.109155178070068]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 753, "episode_id": "754", "scene_id": "1pXnuDYAj8r", "instruction": "Exit the laundry room and go down the stairs a bit to the left. From the base of the stairs turn right and go straight, stopping once past the first doorway ahead. ", "start_position": [6.407670021057129, 3.514145851135254, -2.280019998550415], "start_rotation": [-0.0, 0.8660254037844387, 0.0, 0.4999999999999999], "goal_position": [7.846320152282715, 0.11414599418640137, -7.36713981628418], "goal_radius": 3.0, "reference_path": "[[6.407670021057129, 3.514145851135254, -2.280019998550415], [9.927780151367188, 2.6300408840179443, -3.7776501178741455], [11.380599975585938, 1.834434986114502, -2.5129599571228027], [9.44890022277832, 0.9372111558914185, -2.5088400840759277], [7.578169822692871, 0.11414599418640137, -2.490380048751831], [7.736599922180176, 0.11414599418640137, -3.9872000217437744], [7.846320152282715, 0.11414599418640137, -7.36713981628418]]", "geodesic_distance": 13.65640640258789, "gt_locations": "[[6.407670021057129, 3.514145851135254, -2.280019998550415], [6.624176502227783, 3.514145851135254, -2.405019998550415], [6.865657806396484, 3.514145851135254, -2.469724655151367], [7.082164287567139, 3.514145851135254, -2.594724655151367], [7.298670768737793, 3.514145851135254, -2.719724655151367], [7.515177249908447, 3.514145851135254, -2.844724655151367], [7.731683731079102, 3.514145851135254, -2.969724655151367], [7.948190212249756, 3.514145851135254, -3.094724655151367], [8.16469669342041, 3.514145851135254, -3.219724655151367], [8.40617847442627, 3.514145851135254, -3.2844293117523193], [8.647660255432129, 3.514145851135254, -3.3491339683532715], [8.889142036437988, 3.3550426959991455, -3.4138386249542236], [9.130623817443848, 3.1880502700805664, -3.478543281555176], [9.372105598449707, 3.0190131664276123, -3.543247938156128], [9.613587379455566, 2.849975824356079, -3.60795259475708], [9.855069160461426, 2.680938720703125, -3.6726572513580322], [10.096550941467285, 2.511901378631592, -3.7373619079589844], [10.346550941467285, 2.3369014263153076, -3.7373619079589844], [10.596550941467285, 2.1619014739990234, -3.7373619079589844], [10.838032722473145, 1.9928641319274902, -3.672657012939453], [11.014809608459473, 1.914146065711975, -3.495880126953125], [11.118401527404785, 1.914146065711975, -3.26412034034729], [11.183106422424316, 1.914146065711975, -3.0226387977600098], [11.247811317443848, 1.8774584531784058, -2.7811572551727295], [11.006329536437988, 1.8841466903686523, -2.7164523601531982], [10.756329536437988, 1.8084810972213745, -2.7164523601531982], [10.506329536437988, 1.6599459648132324, -2.7164523601531982], [10.256329536437988, 1.4945247173309326, -2.7164523601531982], [10.006329536437988, 1.3175487518310547, -2.7164523601531982], [9.756329536437988, 1.1405727863311768, -2.7164523601531982], [9.506329536437988, 0.9635968208312988, -2.7164523601531982], [9.256329536437988, 0.7866207957267761, -2.7164523601531982], [9.006329536437988, 0.6096447706222534, -2.7164523601531982], [8.756329536437988, 0.43559929728507996, -2.7164523601531982], [8.506329536437988, 0.24540407955646515, -2.7164523601531982], [8.256329536437988, 0.11414599418640137, -2.7164523601531982], [8.014847755432129, 0.11414599418640137, -2.651747465133667], [7.950142860412598, 0.11414599418640137, -2.8932290077209473], [7.885437965393066, 0.11414599418640137, -3.1347105503082275], [7.820733070373535, 0.11414599418640137, -3.376192092895508], [7.756028175354004, 0.11414599418640137, -3.617673635482788], [7.756028175354004, 0.11414599418640137, -3.867673635482788], [7.756028175354004, 0.11414599418640137, -4.117673873901367], [7.756028175354004, 0.11414599418640137, -4.367673873901367], [7.756028175354004, 0.11414599418640137, -4.617673873901367], [7.756028175354004, 0.11414599418640137, -4.867673873901367], [7.756028175354004, 0.11414599418640137, -5.117673873901367], [7.756028175354004, 0.11414599418640137, -5.367673873901367], [7.756028175354004, 0.11414599418640137, -5.617673873901367], [7.756028175354004, 0.11414599418640137, -5.867673873901367], [7.756028175354004, 0.11414599418640137, -6.117673873901367], [7.756028175354004, 0.11414599418640137, -6.367673873901367], [7.756028175354004, 0.11414599418640137, -6.617673873901367], [7.756028175354004, 0.11414599418640137, -6.867673873901367], [7.820733070373535, 0.11414599418640137, -7.109155178070068]]", "gt_actions": "[2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 3, 1, 3, 3, 1, 3, 3, 1, 1, 1, 3, 3, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 754, "episode_id": "755", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk  outside down the leftmost path until you reach a series of sculptures of a man diving.  Wait here. ", "start_position": [5.471310138702393, -0.3136729598045349, 0.2508060038089752], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [7.456389904022217, -0.3136729598045349, -11.572799682617188], "goal_radius": 3.0, "reference_path": "[[5.471310138702393, -0.3136729598045349, 0.2508060038089752], [4.965529918670654, -0.3136729598045349, -0.8664309978485107], [6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.205060005187988, -0.3136729598045349, -6.75754976272583], [6.434529781341553, -0.3136729598045349, -8.426170349121094], [6.942780017852783, -0.3136729598045349, -10.035400390625], [7.456389904022217, -0.3136729598045349, -11.572799682617188]]", "geodesic_distance": 11.989086151123047, "gt_locations": "[[5.471310138702393, -0.3136729598045349, 0.2508060038089752], [5.346310138702393, -0.3136729598045349, 0.03429965674877167], [5.221310138702393, -0.3136729598045349, -0.18220669031143188], [5.156605243682861, -0.3136729598045349, -0.423688143491745], [5.221310138702393, -0.3136729598045349, -0.6651695966720581], [5.286015033721924, -0.3136729598045349, -0.9066510200500488], [5.350719928741455, -0.3136729598045349, -1.1481324434280396], [5.415424823760986, -0.3136729598045349, -1.3896138668060303], [5.480129718780518, -0.3136729598045349, -1.631095290184021], [5.544834613800049, -0.3136729598045349, -1.8725767135620117], [5.60953950881958, -0.3136729598045349, -2.114058256149292], [5.674244403839111, -0.3136729598045349, -2.3555397987365723], [5.738949298858643, -0.3136729598045349, -2.5970213413238525], [5.803654193878174, -0.3136729598045349, -2.838502883911133], [5.868359088897705, -0.3136729598045349, -3.079984426498413], [5.933063983917236, -0.3136729598045349, -3.3214659690856934], [5.933063983917236, -0.3136729598045349, -3.5714659690856934], [5.933063983917236, -0.3136729598045349, -3.8214659690856934], [5.933063983917236, -0.3136729598045349, -4.071465969085693], [5.933063983917236, -0.3136729598045349, -4.321465969085693], [5.933063983917236, -0.3136729598045349, -4.571465969085693], [5.997768878936768, -0.3136729598045349, -4.8129472732543945], [6.062473773956299, -0.3136729598045349, -5.054428577423096], [6.062473773956299, -0.3136729598045349, -5.304428577423096], [6.062473773956299, -0.3136729598045349, -5.554428577423096], [6.062473773956299, -0.3136729598045349, -5.804428577423096], [6.062473773956299, -0.3136729598045349, -6.054428577423096], [6.12717866897583, -0.3136729598045349, -6.295909881591797], [6.191883563995361, -0.3136729598045349, -6.537391185760498], [6.256588459014893, -0.3136729598045349, -6.778872489929199], [6.321293354034424, -0.3136729598045349, -7.0203537940979], [6.321293354034424, -0.3136729598045349, -7.2703537940979], [6.321293354034424, -0.3136729598045349, -7.5203537940979], [6.321293354034424, -0.3136729598045349, -7.7703537940979], [6.385998249053955, -0.3136729598045349, -8.011835098266602], [6.450703144073486, -0.3136729598045349, -8.253316879272461], [6.515408039093018, -0.3136729598045349, -8.49479866027832], [6.580112934112549, -0.3136729598045349, -8.73628044128418], [6.64481782913208, -0.3136729598045349, -8.977762222290039], [6.709522724151611, -0.3136729598045349, -9.219244003295898], [6.774227619171143, -0.3136729598045349, -9.460725784301758], [6.838932514190674, -0.3136729598045349, -9.702207565307617], [6.903637409210205, -0.3136729598045349, -9.943689346313477], [6.968342304229736, -0.3136729598045349, -10.185171127319336], [7.033047199249268, -0.3136729598045349, -10.426652908325195], [7.097752094268799, -0.3136729598045349, -10.668134689331055], [7.16245698928833, -0.3136729598045349, -10.909616470336914], [7.227161884307861, -0.3136729598045349, -11.151098251342773]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 755, "episode_id": "756", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk outside and turn left. Keep walking all the way forward until the end of the glass window. Stop in front of the round table and chairs placed at the edge. ", "start_position": [5.471310138702393, -0.3136729598045349, 0.2508060038089752], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [7.456389904022217, -0.3136729598045349, -11.572799682617188], "goal_radius": 3.0, "reference_path": "[[5.471310138702393, -0.3136729598045349, 0.2508060038089752], [4.965529918670654, -0.3136729598045349, -0.8664309978485107], [6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.205060005187988, -0.3136729598045349, -6.75754976272583], [6.434529781341553, -0.3136729598045349, -8.426170349121094], [6.942780017852783, -0.3136729598045349, -10.035400390625], [7.456389904022217, -0.3136729598045349, -11.572799682617188]]", "geodesic_distance": 11.989086151123047, "gt_locations": "[[5.471310138702393, -0.3136729598045349, 0.2508060038089752], [5.346310138702393, -0.3136729598045349, 0.03429965674877167], [5.221310138702393, -0.3136729598045349, -0.18220669031143188], [5.156605243682861, -0.3136729598045349, -0.423688143491745], [5.221310138702393, -0.3136729598045349, -0.6651695966720581], [5.286015033721924, -0.3136729598045349, -0.9066510200500488], [5.350719928741455, -0.3136729598045349, -1.1481324434280396], [5.415424823760986, -0.3136729598045349, -1.3896138668060303], [5.480129718780518, -0.3136729598045349, -1.631095290184021], [5.544834613800049, -0.3136729598045349, -1.8725767135620117], [5.60953950881958, -0.3136729598045349, -2.114058256149292], [5.674244403839111, -0.3136729598045349, -2.3555397987365723], [5.738949298858643, -0.3136729598045349, -2.5970213413238525], [5.803654193878174, -0.3136729598045349, -2.838502883911133], [5.868359088897705, -0.3136729598045349, -3.079984426498413], [5.933063983917236, -0.3136729598045349, -3.3214659690856934], [5.933063983917236, -0.3136729598045349, -3.5714659690856934], [5.933063983917236, -0.3136729598045349, -3.8214659690856934], [5.933063983917236, -0.3136729598045349, -4.071465969085693], [5.933063983917236, -0.3136729598045349, -4.321465969085693], [5.933063983917236, -0.3136729598045349, -4.571465969085693], [5.997768878936768, -0.3136729598045349, -4.8129472732543945], [6.062473773956299, -0.3136729598045349, -5.054428577423096], [6.062473773956299, -0.3136729598045349, -5.304428577423096], [6.062473773956299, -0.3136729598045349, -5.554428577423096], [6.062473773956299, -0.3136729598045349, -5.804428577423096], [6.062473773956299, -0.3136729598045349, -6.054428577423096], [6.12717866897583, -0.3136729598045349, -6.295909881591797], [6.191883563995361, -0.3136729598045349, -6.537391185760498], [6.256588459014893, -0.3136729598045349, -6.778872489929199], [6.321293354034424, -0.3136729598045349, -7.0203537940979], [6.321293354034424, -0.3136729598045349, -7.2703537940979], [6.321293354034424, -0.3136729598045349, -7.5203537940979], [6.321293354034424, -0.3136729598045349, -7.7703537940979], [6.385998249053955, -0.3136729598045349, -8.011835098266602], [6.450703144073486, -0.3136729598045349, -8.253316879272461], [6.515408039093018, -0.3136729598045349, -8.49479866027832], [6.580112934112549, -0.3136729598045349, -8.73628044128418], [6.64481782913208, -0.3136729598045349, -8.977762222290039], [6.709522724151611, -0.3136729598045349, -9.219244003295898], [6.774227619171143, -0.3136729598045349, -9.460725784301758], [6.838932514190674, -0.3136729598045349, -9.702207565307617], [6.903637409210205, -0.3136729598045349, -9.943689346313477], [6.968342304229736, -0.3136729598045349, -10.185171127319336], [7.033047199249268, -0.3136729598045349, -10.426652908325195], [7.097752094268799, -0.3136729598045349, -10.668134689331055], [7.16245698928833, -0.3136729598045349, -10.909616470336914], [7.227161884307861, -0.3136729598045349, -11.151098251342773]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 756, "episode_id": "757", "scene_id": "kEZ7cmS4wCh", "instruction": "Exit the house and turn left. Walk straight toward the statues. Wait near the statues. ", "start_position": [5.471310138702393, -0.3136729598045349, 0.2508060038089752], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [7.456389904022217, -0.3136729598045349, -11.572799682617188], "goal_radius": 3.0, "reference_path": "[[5.471310138702393, -0.3136729598045349, 0.2508060038089752], [4.965529918670654, -0.3136729598045349, -0.8664309978485107], [6.103499889373779, -0.3136729598045349, -5.351079940795898], [6.205060005187988, -0.3136729598045349, -6.75754976272583], [6.434529781341553, -0.3136729598045349, -8.426170349121094], [6.942780017852783, -0.3136729598045349, -10.035400390625], [7.456389904022217, -0.3136729598045349, -11.572799682617188]]", "geodesic_distance": 11.989086151123047, "gt_locations": "[[5.471310138702393, -0.3136729598045349, 0.2508060038089752], [5.346310138702393, -0.3136729598045349, 0.03429965674877167], [5.221310138702393, -0.3136729598045349, -0.18220669031143188], [5.156605243682861, -0.3136729598045349, -0.423688143491745], [5.221310138702393, -0.3136729598045349, -0.6651695966720581], [5.286015033721924, -0.3136729598045349, -0.9066510200500488], [5.350719928741455, -0.3136729598045349, -1.1481324434280396], [5.415424823760986, -0.3136729598045349, -1.3896138668060303], [5.480129718780518, -0.3136729598045349, -1.631095290184021], [5.544834613800049, -0.3136729598045349, -1.8725767135620117], [5.60953950881958, -0.3136729598045349, -2.114058256149292], [5.674244403839111, -0.3136729598045349, -2.3555397987365723], [5.738949298858643, -0.3136729598045349, -2.5970213413238525], [5.803654193878174, -0.3136729598045349, -2.838502883911133], [5.868359088897705, -0.3136729598045349, -3.079984426498413], [5.933063983917236, -0.3136729598045349, -3.3214659690856934], [5.933063983917236, -0.3136729598045349, -3.5714659690856934], [5.933063983917236, -0.3136729598045349, -3.8214659690856934], [5.933063983917236, -0.3136729598045349, -4.071465969085693], [5.933063983917236, -0.3136729598045349, -4.321465969085693], [5.933063983917236, -0.3136729598045349, -4.571465969085693], [5.997768878936768, -0.3136729598045349, -4.8129472732543945], [6.062473773956299, -0.3136729598045349, -5.054428577423096], [6.062473773956299, -0.3136729598045349, -5.304428577423096], [6.062473773956299, -0.3136729598045349, -5.554428577423096], [6.062473773956299, -0.3136729598045349, -5.804428577423096], [6.062473773956299, -0.3136729598045349, -6.054428577423096], [6.12717866897583, -0.3136729598045349, -6.295909881591797], [6.191883563995361, -0.3136729598045349, -6.537391185760498], [6.256588459014893, -0.3136729598045349, -6.778872489929199], [6.321293354034424, -0.3136729598045349, -7.0203537940979], [6.321293354034424, -0.3136729598045349, -7.2703537940979], [6.321293354034424, -0.3136729598045349, -7.5203537940979], [6.321293354034424, -0.3136729598045349, -7.7703537940979], [6.385998249053955, -0.3136729598045349, -8.011835098266602], [6.450703144073486, -0.3136729598045349, -8.253316879272461], [6.515408039093018, -0.3136729598045349, -8.49479866027832], [6.580112934112549, -0.3136729598045349, -8.73628044128418], [6.64481782913208, -0.3136729598045349, -8.977762222290039], [6.709522724151611, -0.3136729598045349, -9.219244003295898], [6.774227619171143, -0.3136729598045349, -9.460725784301758], [6.838932514190674, -0.3136729598045349, -9.702207565307617], [6.903637409210205, -0.3136729598045349, -9.943689346313477], [6.968342304229736, -0.3136729598045349, -10.185171127319336], [7.033047199249268, -0.3136729598045349, -10.426652908325195], [7.097752094268799, -0.3136729598045349, -10.668134689331055], [7.16245698928833, -0.3136729598045349, -10.909616470336914], [7.227161884307861, -0.3136729598045349, -11.151098251342773]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 3, 1, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 757, "episode_id": "758", "scene_id": "VzqfbhrpDEA", "instruction": "Go up the two steps. Turn right and then go straight. When you get to the sink on the left. Turn right and go into the bathroom. Turn right and wait near the toilet. ", "start_position": [0.11200200021266937, -0.10899098217487335, 0.15039099752902985], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-2.4209699630737305, 0.09100902080535889, -6.160409927368164], "goal_radius": 3.0, "reference_path": "[[0.11200200021266937, -0.10899098217487335, 0.15039099752902985], [-3.399019956588745, 0.09100902080535889, -1.4999899864196777], [-3.476490020751953, 0.09100902080535889, -3.167180061340332], [-3.8376801013946533, 0.09100902080535889, -4.532909870147705], [-3.961750030517578, 0.09100902080535889, -7.199490070343018], [-2.347140073776245, 0.09100902080535889, -7.037909984588623], [-2.4209699630737305, 0.09100902080535889, -6.160409927368164]]", "geodesic_distance": 9.362560272216797, "gt_locations": "[[0.11200200021266937, -0.10899098217487335, 0.15039099752902985], [-0.10450434684753418, -0.10899098217487335, 0.025390997529029846], [-0.3210107088088989, -0.10899098217487335, -0.09960900247097015], [-0.5375170707702637, -0.10899098217487335, -0.22460900247097015], [-0.7540234327316284, -0.10899098217487335, -0.34960901737213135], [-0.9705297946929932, -0.10899098217487335, -0.47460901737213135], [-1.187036156654358, -0.10899098217487335, -0.5996090173721313], [-1.4035425186157227, -0.10899098217487335, -0.7246090173721313], [-1.6200488805770874, -0.10899098217487335, -0.8496090173721313], [-1.8615303039550781, -0.10899098217487335, -0.914313793182373], [-2.1030118465423584, 0.008926764130592346, -0.9790185689926147], [-2.3444933891296387, 0.09100902080535889, -1.0437233448028564], [-2.585974931716919, 0.09100902080535889, -1.1084281206130981], [-2.802481174468994, 0.09100902080535889, -1.2334281206130981], [-3.0189876556396484, 0.09100902080535889, -1.3584281206130981], [-3.0836923122406006, 0.09100902080535889, -1.5999095439910889], [-3.1483969688415527, 0.09100902080535889, -1.8413909673690796], [-3.213101625442505, 0.09100902080535889, -2.0828723907470703], [-3.277806282043457, 0.09100902080535889, -2.3243539333343506], [-3.342510938644409, 0.09100902080535889, -2.565835475921631], [-3.4072155952453613, 0.09100902080535889, -2.807317018508911], [-3.4719202518463135, 0.09100902080535889, -3.0487985610961914], [-3.5366249084472656, 0.09100902080535889, -3.2902801036834717], [-3.6013295650482178, 0.09100902080535889, -3.531761646270752], [-3.66603422164917, 0.09100902080535889, -3.7732431888580322], [-3.730738878250122, 0.09100902080535889, -4.0147247314453125], [-3.795443534851074, 0.09100902080535889, -4.256206035614014], [-3.795443534851074, 0.09100902080535889, -4.506206035614014], [-3.795443534851074, 0.09100902080535889, -4.756206035614014], [-3.795443534851074, 0.09100902080535889, -5.006206035614014], [-3.795443534851074, 0.09100902080535889, -5.256206035614014], [-3.795443534851074, 0.09100902080535889, -5.506206035614014], [-3.795443534851074, 0.09100902080535889, -5.756206035614014], [-3.795443534851074, 0.09100902080535889, -6.006206035614014], [-3.795443534851074, 0.09100902080535889, -6.256206035614014], [-3.8601481914520264, 0.09100902080535889, -6.497687339782715], [-3.9248528480529785, 0.09100902080535889, -6.739168643951416], [-3.6833713054656982, 0.09100902080535889, -6.803873538970947], [-3.441889762878418, 0.09100902080535889, -6.8685784339904785], [-3.2004082202911377, 0.09100902080535889, -6.93328332901001], [-2.9589266777038574, 0.09100902080535889, -6.997988224029541], [-2.7089266777038574, 0.09100902080535889, -6.997988224029541], [-2.5839266777038574, 0.09100902080535889, -6.781481742858887], [-2.5192220211029053, 0.09100902080535889, -6.5400004386901855]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 1, 3, 1, 0]"}
{"id": 758, "episode_id": "759", "scene_id": "VzqfbhrpDEA", "instruction": "Walk straight ahead and up two steps. Turn right. Walk down the hall. Turn right into the first doorway. Turn right into the bathroom. Wait near the toilet. ", "start_position": [0.11200200021266937, -0.10899098217487335, 0.15039099752902985], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-2.4209699630737305, 0.09100902080535889, -6.160409927368164], "goal_radius": 3.0, "reference_path": "[[0.11200200021266937, -0.10899098217487335, 0.15039099752902985], [-3.399019956588745, 0.09100902080535889, -1.4999899864196777], [-3.476490020751953, 0.09100902080535889, -3.167180061340332], [-3.8376801013946533, 0.09100902080535889, -4.532909870147705], [-3.961750030517578, 0.09100902080535889, -7.199490070343018], [-2.347140073776245, 0.09100902080535889, -7.037909984588623], [-2.4209699630737305, 0.09100902080535889, -6.160409927368164]]", "geodesic_distance": 9.362560272216797, "gt_locations": "[[0.11200200021266937, -0.10899098217487335, 0.15039099752902985], [-0.10450434684753418, -0.10899098217487335, 0.025390997529029846], [-0.3210107088088989, -0.10899098217487335, -0.09960900247097015], [-0.5375170707702637, -0.10899098217487335, -0.22460900247097015], [-0.7540234327316284, -0.10899098217487335, -0.34960901737213135], [-0.9705297946929932, -0.10899098217487335, -0.47460901737213135], [-1.187036156654358, -0.10899098217487335, -0.5996090173721313], [-1.4035425186157227, -0.10899098217487335, -0.7246090173721313], [-1.6200488805770874, -0.10899098217487335, -0.8496090173721313], [-1.8615303039550781, -0.10899098217487335, -0.914313793182373], [-2.1030118465423584, 0.008926764130592346, -0.9790185689926147], [-2.3444933891296387, 0.09100902080535889, -1.0437233448028564], [-2.585974931716919, 0.09100902080535889, -1.1084281206130981], [-2.802481174468994, 0.09100902080535889, -1.2334281206130981], [-3.0189876556396484, 0.09100902080535889, -1.3584281206130981], [-3.0836923122406006, 0.09100902080535889, -1.5999095439910889], [-3.1483969688415527, 0.09100902080535889, -1.8413909673690796], [-3.213101625442505, 0.09100902080535889, -2.0828723907470703], [-3.277806282043457, 0.09100902080535889, -2.3243539333343506], [-3.342510938644409, 0.09100902080535889, -2.565835475921631], [-3.4072155952453613, 0.09100902080535889, -2.807317018508911], [-3.4719202518463135, 0.09100902080535889, -3.0487985610961914], [-3.5366249084472656, 0.09100902080535889, -3.2902801036834717], [-3.6013295650482178, 0.09100902080535889, -3.531761646270752], [-3.66603422164917, 0.09100902080535889, -3.7732431888580322], [-3.730738878250122, 0.09100902080535889, -4.0147247314453125], [-3.795443534851074, 0.09100902080535889, -4.256206035614014], [-3.795443534851074, 0.09100902080535889, -4.506206035614014], [-3.795443534851074, 0.09100902080535889, -4.756206035614014], [-3.795443534851074, 0.09100902080535889, -5.006206035614014], [-3.795443534851074, 0.09100902080535889, -5.256206035614014], [-3.795443534851074, 0.09100902080535889, -5.506206035614014], [-3.795443534851074, 0.09100902080535889, -5.756206035614014], [-3.795443534851074, 0.09100902080535889, -6.006206035614014], [-3.795443534851074, 0.09100902080535889, -6.256206035614014], [-3.8601481914520264, 0.09100902080535889, -6.497687339782715], [-3.9248528480529785, 0.09100902080535889, -6.739168643951416], [-3.6833713054656982, 0.09100902080535889, -6.803873538970947], [-3.441889762878418, 0.09100902080535889, -6.8685784339904785], [-3.2004082202911377, 0.09100902080535889, -6.93328332901001], [-2.9589266777038574, 0.09100902080535889, -6.997988224029541], [-2.7089266777038574, 0.09100902080535889, -6.997988224029541], [-2.5839266777038574, 0.09100902080535889, -6.781481742858887], [-2.5192220211029053, 0.09100902080535889, -6.5400004386901855]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 1, 3, 1, 0]"}
{"id": 759, "episode_id": "760", "scene_id": "VzqfbhrpDEA", "instruction": "Go up the stairs and take a right. Go straight and enter the room with the counters. Take a right into the bathroom. Stop in front of the sink. ", "start_position": [0.11200200021266937, -0.10899098217487335, 0.15039099752902985], "start_rotation": [-0.0, 0.7071067811865475, 0.0, 0.7071067811865476], "goal_position": [-2.4209699630737305, 0.09100902080535889, -6.160409927368164], "goal_radius": 3.0, "reference_path": "[[0.11200200021266937, -0.10899098217487335, 0.15039099752902985], [-3.399019956588745, 0.09100902080535889, -1.4999899864196777], [-3.476490020751953, 0.09100902080535889, -3.167180061340332], [-3.8376801013946533, 0.09100902080535889, -4.532909870147705], [-3.961750030517578, 0.09100902080535889, -7.199490070343018], [-2.347140073776245, 0.09100902080535889, -7.037909984588623], [-2.4209699630737305, 0.09100902080535889, -6.160409927368164]]", "geodesic_distance": 9.362560272216797, "gt_locations": "[[0.11200200021266937, -0.10899098217487335, 0.15039099752902985], [-0.10450434684753418, -0.10899098217487335, 0.025390997529029846], [-0.3210107088088989, -0.10899098217487335, -0.09960900247097015], [-0.5375170707702637, -0.10899098217487335, -0.22460900247097015], [-0.7540234327316284, -0.10899098217487335, -0.34960901737213135], [-0.9705297946929932, -0.10899098217487335, -0.47460901737213135], [-1.187036156654358, -0.10899098217487335, -0.5996090173721313], [-1.4035425186157227, -0.10899098217487335, -0.7246090173721313], [-1.6200488805770874, -0.10899098217487335, -0.8496090173721313], [-1.8615303039550781, -0.10899098217487335, -0.914313793182373], [-2.1030118465423584, 0.008926764130592346, -0.9790185689926147], [-2.3444933891296387, 0.09100902080535889, -1.0437233448028564], [-2.585974931716919, 0.09100902080535889, -1.1084281206130981], [-2.802481174468994, 0.09100902080535889, -1.2334281206130981], [-3.0189876556396484, 0.09100902080535889, -1.3584281206130981], [-3.0836923122406006, 0.09100902080535889, -1.5999095439910889], [-3.1483969688415527, 0.09100902080535889, -1.8413909673690796], [-3.213101625442505, 0.09100902080535889, -2.0828723907470703], [-3.277806282043457, 0.09100902080535889, -2.3243539333343506], [-3.342510938644409, 0.09100902080535889, -2.565835475921631], [-3.4072155952453613, 0.09100902080535889, -2.807317018508911], [-3.4719202518463135, 0.09100902080535889, -3.0487985610961914], [-3.5366249084472656, 0.09100902080535889, -3.2902801036834717], [-3.6013295650482178, 0.09100902080535889, -3.531761646270752], [-3.66603422164917, 0.09100902080535889, -3.7732431888580322], [-3.730738878250122, 0.09100902080535889, -4.0147247314453125], [-3.795443534851074, 0.09100902080535889, -4.256206035614014], [-3.795443534851074, 0.09100902080535889, -4.506206035614014], [-3.795443534851074, 0.09100902080535889, -4.756206035614014], [-3.795443534851074, 0.09100902080535889, -5.006206035614014], [-3.795443534851074, 0.09100902080535889, -5.256206035614014], [-3.795443534851074, 0.09100902080535889, -5.506206035614014], [-3.795443534851074, 0.09100902080535889, -5.756206035614014], [-3.795443534851074, 0.09100902080535889, -6.006206035614014], [-3.795443534851074, 0.09100902080535889, -6.256206035614014], [-3.8601481914520264, 0.09100902080535889, -6.497687339782715], [-3.9248528480529785, 0.09100902080535889, -6.739168643951416], [-3.6833713054656982, 0.09100902080535889, -6.803873538970947], [-3.441889762878418, 0.09100902080535889, -6.8685784339904785], [-3.2004082202911377, 0.09100902080535889, -6.93328332901001], [-2.9589266777038574, 0.09100902080535889, -6.997988224029541], [-2.7089266777038574, 0.09100902080535889, -6.997988224029541], [-2.5839266777038574, 0.09100902080535889, -6.781481742858887], [-2.5192220211029053, 0.09100902080535889, -6.5400004386901855]]", "gt_actions": "[3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 3, 1, 1, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 3, 3, 3, 3, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 3, 3, 1, 3, 1, 0]"}
{"id": 760, "episode_id": "761", "scene_id": "JeFG25nYj2p", "instruction": "Turn right to face the doorway to the bathroom. Exit the bathroom by turning left. Turn right in the hallway. Turn right at the chair. Walk down the hallway past the sculpture. Walk directly across the marble floor to the room with the brown and white door. Stop in the doorway. ", "start_position": [-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], [0.2561109960079193, 0.09358400106430054, -2.995110034942627], [1.4141099452972412, 0.09358400106430054, -2.5712199211120605], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [1.1511399745941162, 0.09358400106430054, -0.177374005317688], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 6.839555263519287, "gt_locations": "[[-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], [-0.9393836259841919, 0.09358400106430054, -2.04656982421875], [-0.7228772640228271, 0.09358400106430054, -2.17156982421875], [-0.5063709020614624, 0.09358400106430054, -2.29656982421875], [-0.29122012853622437, 0.09358400106430054, -2.447763681411743], [-0.11444342136383057, 0.09358400106430054, -2.624540328979492], [0.06233328580856323, 0.09358400106430054, -2.801316976547241], [0.30381476879119873, 0.09358400106430054, -2.8660218715667725], [0.5579336881637573, 0.09358400106430054, -2.8329107761383057], [0.7994151711463928, 0.09358400106430054, -2.7682061195373535], [1.0408966541290283, 0.09358400106430054, -2.7035014629364014], [1.10560142993927, 0.09358400106430054, -2.462019920349121], [1.1703062057495117, 0.09358400106430054, -2.220538377761841], [1.2350109815597534, 0.09358400106430054, -1.9790568351745605], [1.360011100769043, 0.09358400106430054, -1.7625504732131958], [1.360011100769043, 0.09358400106430054, -1.5125504732131958], [1.360011100769043, 0.09358400106430054, -1.2625504732131958], [1.360011100769043, 0.09358400106430054, -1.0125504732131958], [1.2953064441680908, 0.09358400106430054, -0.7710689902305603], [1.2306017875671387, 0.09358400106430054, -0.5295875072479248], [1.2306017875671387, 0.09358400106430054, -0.2795875072479248], [1.2306017875671387, 0.09358400106430054, -0.029587507247924805], [1.2306017875671387, 0.09358400106430054, 0.2204124927520752], [1.2306017875671387, 0.09358400106430054, 0.4704124927520752], [1.2306017875671387, 0.09358400106430054, 0.7204124927520752], [1.2953065633773804, 0.09358400106430054, 0.9618939757347107], [1.360011339187622, 0.09358400106430054, 1.2033754587173462], [1.4247161149978638, 0.09358400106430054, 1.444856882095337]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 1, 3, 3, 1, 3, 3, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 761, "episode_id": "762", "scene_id": "JeFG25nYj2p", "instruction": "Exit the bathroom and turn right. Wait in the entryway of the bedroom on the right. ", "start_position": [-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], [0.2561109960079193, 0.09358400106430054, -2.995110034942627], [1.4141099452972412, 0.09358400106430054, -2.5712199211120605], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [1.1511399745941162, 0.09358400106430054, -0.177374005317688], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 6.839555263519287, "gt_locations": "[[-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], [-0.9393836259841919, 0.09358400106430054, -2.04656982421875], [-0.7228772640228271, 0.09358400106430054, -2.17156982421875], [-0.5063709020614624, 0.09358400106430054, -2.29656982421875], [-0.29122012853622437, 0.09358400106430054, -2.447763681411743], [-0.11444342136383057, 0.09358400106430054, -2.624540328979492], [0.06233328580856323, 0.09358400106430054, -2.801316976547241], [0.30381476879119873, 0.09358400106430054, -2.8660218715667725], [0.5579336881637573, 0.09358400106430054, -2.8329107761383057], [0.7994151711463928, 0.09358400106430054, -2.7682061195373535], [1.0408966541290283, 0.09358400106430054, -2.7035014629364014], [1.10560142993927, 0.09358400106430054, -2.462019920349121], [1.1703062057495117, 0.09358400106430054, -2.220538377761841], [1.2350109815597534, 0.09358400106430054, -1.9790568351745605], [1.360011100769043, 0.09358400106430054, -1.7625504732131958], [1.360011100769043, 0.09358400106430054, -1.5125504732131958], [1.360011100769043, 0.09358400106430054, -1.2625504732131958], [1.360011100769043, 0.09358400106430054, -1.0125504732131958], [1.2953064441680908, 0.09358400106430054, -0.7710689902305603], [1.2306017875671387, 0.09358400106430054, -0.5295875072479248], [1.2306017875671387, 0.09358400106430054, -0.2795875072479248], [1.2306017875671387, 0.09358400106430054, -0.029587507247924805], [1.2306017875671387, 0.09358400106430054, 0.2204124927520752], [1.2306017875671387, 0.09358400106430054, 0.4704124927520752], [1.2306017875671387, 0.09358400106430054, 0.7204124927520752], [1.2953065633773804, 0.09358400106430054, 0.9618939757347107], [1.360011339187622, 0.09358400106430054, 1.2033754587173462], [1.4247161149978638, 0.09358400106430054, 1.444856882095337]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 1, 3, 3, 1, 3, 3, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 762, "episode_id": "763", "scene_id": "JeFG25nYj2p", "instruction": "Exit the bathroom and turn right. Continue around to the right passing by the display on your right. Cross over the corridor with the stone tile floor into the room directly ahead. Stop once you reach the wooden flooring. ", "start_position": [-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [1.424720048904419, 0.09358400106430054, 1.7218899726867676], "goal_radius": 3.0, "reference_path": "[[-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], [0.2561109960079193, 0.09358400106430054, -2.995110034942627], [1.4141099452972412, 0.09358400106430054, -2.5712199211120605], [1.4568599462509155, 0.09358400106430054, -1.3836899995803833], [1.1511399745941162, 0.09358400106430054, -0.177374005317688], [1.424720048904419, 0.09358400106430054, 1.7218899726867676]]", "geodesic_distance": 6.839555263519287, "gt_locations": "[[-1.1558899879455566, 0.09358400106430054, -1.9215699434280396], [-0.9393836259841919, 0.09358400106430054, -2.04656982421875], [-0.7228772640228271, 0.09358400106430054, -2.17156982421875], [-0.5063709020614624, 0.09358400106430054, -2.29656982421875], [-0.29122012853622437, 0.09358400106430054, -2.447763681411743], [-0.11444342136383057, 0.09358400106430054, -2.624540328979492], [0.06233328580856323, 0.09358400106430054, -2.801316976547241], [0.30381476879119873, 0.09358400106430054, -2.8660218715667725], [0.5579336881637573, 0.09358400106430054, -2.8329107761383057], [0.7994151711463928, 0.09358400106430054, -2.7682061195373535], [1.0408966541290283, 0.09358400106430054, -2.7035014629364014], [1.10560142993927, 0.09358400106430054, -2.462019920349121], [1.1703062057495117, 0.09358400106430054, -2.220538377761841], [1.2350109815597534, 0.09358400106430054, -1.9790568351745605], [1.360011100769043, 0.09358400106430054, -1.7625504732131958], [1.360011100769043, 0.09358400106430054, -1.5125504732131958], [1.360011100769043, 0.09358400106430054, -1.2625504732131958], [1.360011100769043, 0.09358400106430054, -1.0125504732131958], [1.2953064441680908, 0.09358400106430054, -0.7710689902305603], [1.2306017875671387, 0.09358400106430054, -0.5295875072479248], [1.2306017875671387, 0.09358400106430054, -0.2795875072479248], [1.2306017875671387, 0.09358400106430054, -0.029587507247924805], [1.2306017875671387, 0.09358400106430054, 0.2204124927520752], [1.2306017875671387, 0.09358400106430054, 0.4704124927520752], [1.2306017875671387, 0.09358400106430054, 0.7204124927520752], [1.2953065633773804, 0.09358400106430054, 0.9618939757347107], [1.360011339187622, 0.09358400106430054, 1.2033754587173462], [1.4247161149978638, 0.09358400106430054, 1.444856882095337]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 1, 1, 1, 2, 1, 1, 1, 3, 3, 1, 3, 3, 1, 1, 1, 3, 3, 3, 3, 1, 1, 1, 2, 1, 3, 3, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 0]"}
{"id": 763, "episode_id": "764", "scene_id": "Pm6F8kyY3z2", "instruction": "Walk past the left side of the bed and stop in the doorway. ", "start_position": [-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-3.1123600006103516, 0.08912014961242676, -6.453770160675049], "goal_radius": 3.0, "reference_path": "[[-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-3.1123600006103516, 0.08912014961242676, -6.453770160675049]]", "geodesic_distance": 7.163930892944336, "gt_locations": "[[-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-0.1259220391511917, 0.240652933716774, -0.21988196671009064], [-0.2509220242500305, 0.20979224145412445, -0.4363883137702942], [-0.3759220242500305, 0.17893153429031372, -0.6528946757316589], [-0.5009220242500305, 0.1480708122253418, -0.8694010376930237], [-0.6259220242500305, 0.11721010506153107, -1.0859073400497437], [-0.7509220242500305, 0.08912014961242676, -1.3024137020111084], [-0.8759220242500305, 0.08912014961242676, -1.5189200639724731], [-1.0009219646453857, 0.08912014961242676, -1.735426425933838], [-1.1259219646453857, 0.08912014961242676, -1.9519327878952026], [-1.2509219646453857, 0.08912014961242676, -2.1684391498565674], [-1.3759219646453857, 0.08912014961242676, -2.3849453926086426], [-1.5009219646453857, 0.08912014961242676, -2.6014516353607178], [-1.5656267404556274, 0.08912014961242676, -2.842933177947998], [-1.6303315162658691, 0.08912014961242676, -3.0844147205352783], [-1.6950362920761108, 0.08912014961242676, -3.3258962631225586], [-1.7597410678863525, 0.08912014961242676, -3.567377805709839], [-1.8847410678863525, 0.08912014961242676, -3.783884048461914], [-2.0097410678863525, 0.08912014961242676, -4.000390529632568], [-2.1347410678863525, 0.08912014961242676, -4.216897010803223], [-2.2597410678863525, 0.08912014961242676, -4.433403491973877], [-2.3847410678863525, 0.08912014961242676, -4.649909973144531], [-2.5097410678863525, 0.08912014961242676, -4.8664164543151855], [-2.6347410678863525, 0.08912014961242676, -5.08292293548584], [-2.6994457244873047, 0.08912014961242676, -5.324404239654541], [-2.8244457244873047, 0.08912014961242676, -5.540910720825195], [-2.9494457244873047, 0.08912014961242676, -5.75741720199585], [-3.014150381088257, 0.08912014961242676, -5.998898506164551]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 0]"}
{"id": 764, "episode_id": "765", "scene_id": "Pm6F8kyY3z2", "instruction": "Exit the room using the door on the left. Wait there in the bathroom. ", "start_position": [-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-3.1123600006103516, 0.08912014961242676, -6.453770160675049], "goal_radius": 3.0, "reference_path": "[[-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-3.1123600006103516, 0.08912014961242676, -6.453770160675049]]", "geodesic_distance": 7.163930892944336, "gt_locations": "[[-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-0.1259220391511917, 0.240652933716774, -0.21988196671009064], [-0.2509220242500305, 0.20979224145412445, -0.4363883137702942], [-0.3759220242500305, 0.17893153429031372, -0.6528946757316589], [-0.5009220242500305, 0.1480708122253418, -0.8694010376930237], [-0.6259220242500305, 0.11721010506153107, -1.0859073400497437], [-0.7509220242500305, 0.08912014961242676, -1.3024137020111084], [-0.8759220242500305, 0.08912014961242676, -1.5189200639724731], [-1.0009219646453857, 0.08912014961242676, -1.735426425933838], [-1.1259219646453857, 0.08912014961242676, -1.9519327878952026], [-1.2509219646453857, 0.08912014961242676, -2.1684391498565674], [-1.3759219646453857, 0.08912014961242676, -2.3849453926086426], [-1.5009219646453857, 0.08912014961242676, -2.6014516353607178], [-1.5656267404556274, 0.08912014961242676, -2.842933177947998], [-1.6303315162658691, 0.08912014961242676, -3.0844147205352783], [-1.6950362920761108, 0.08912014961242676, -3.3258962631225586], [-1.7597410678863525, 0.08912014961242676, -3.567377805709839], [-1.8847410678863525, 0.08912014961242676, -3.783884048461914], [-2.0097410678863525, 0.08912014961242676, -4.000390529632568], [-2.1347410678863525, 0.08912014961242676, -4.216897010803223], [-2.2597410678863525, 0.08912014961242676, -4.433403491973877], [-2.3847410678863525, 0.08912014961242676, -4.649909973144531], [-2.5097410678863525, 0.08912014961242676, -4.8664164543151855], [-2.6347410678863525, 0.08912014961242676, -5.08292293548584], [-2.6994457244873047, 0.08912014961242676, -5.324404239654541], [-2.8244457244873047, 0.08912014961242676, -5.540910720825195], [-2.9494457244873047, 0.08912014961242676, -5.75741720199585], [-3.014150381088257, 0.08912014961242676, -5.998898506164551]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 0]"}
{"id": 765, "episode_id": "766", "scene_id": "Pm6F8kyY3z2", "instruction": "Go into the bathroom on the left of the bed. Stop in the doorway to the bathroom. ", "start_position": [-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], "start_rotation": [-0.0, 0.2588190451025209, 0.0, 0.9659258262890682], "goal_position": [-3.1123600006103516, 0.08912014961242676, -6.453770160675049], "goal_radius": 3.0, "reference_path": "[[-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-1.8508000373840332, 0.08912014961242676, -3.6164801120758057], [-2.2766499519348145, 0.08912014961242676, -4.687829971313477], [-2.7768099308013916, 0.08912014961242676, -5.563960075378418], [-3.081899881362915, 0.08912014961242676, -6.163259983062744], [-3.1123600006103516, 0.08912014961242676, -6.453770160675049]]", "geodesic_distance": 7.163930892944336, "gt_locations": "[[-0.0009220460196956992, 0.2715136408805847, -0.0033756201155483723], [-0.1259220391511917, 0.240652933716774, -0.21988196671009064], [-0.2509220242500305, 0.20979224145412445, -0.4363883137702942], [-0.3759220242500305, 0.17893153429031372, -0.6528946757316589], [-0.5009220242500305, 0.1480708122253418, -0.8694010376930237], [-0.6259220242500305, 0.11721010506153107, -1.0859073400497437], [-0.7509220242500305, 0.08912014961242676, -1.3024137020111084], [-0.8759220242500305, 0.08912014961242676, -1.5189200639724731], [-1.0009219646453857, 0.08912014961242676, -1.735426425933838], [-1.1259219646453857, 0.08912014961242676, -1.9519327878952026], [-1.2509219646453857, 0.08912014961242676, -2.1684391498565674], [-1.3759219646453857, 0.08912014961242676, -2.3849453926086426], [-1.5009219646453857, 0.08912014961242676, -2.6014516353607178], [-1.5656267404556274, 0.08912014961242676, -2.842933177947998], [-1.6303315162658691, 0.08912014961242676, -3.0844147205352783], [-1.6950362920761108, 0.08912014961242676, -3.3258962631225586], [-1.7597410678863525, 0.08912014961242676, -3.567377805709839], [-1.8847410678863525, 0.08912014961242676, -3.783884048461914], [-2.0097410678863525, 0.08912014961242676, -4.000390529632568], [-2.1347410678863525, 0.08912014961242676, -4.216897010803223], [-2.2597410678863525, 0.08912014961242676, -4.433403491973877], [-2.3847410678863525, 0.08912014961242676, -4.649909973144531], [-2.5097410678863525, 0.08912014961242676, -4.8664164543151855], [-2.6347410678863525, 0.08912014961242676, -5.08292293548584], [-2.6994457244873047, 0.08912014961242676, -5.324404239654541], [-2.8244457244873047, 0.08912014961242676, -5.540910720825195], [-2.9494457244873047, 0.08912014961242676, -5.75741720199585], [-3.014150381088257, 0.08912014961242676, -5.998898506164551]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 3, 1, 0]"}
{"id": 766, "episode_id": "767", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk forward, turn left, exit the house and wait near the pool. ", "start_position": [-3.2815299034118652, 0.3673364818096161, -3.934299945831299], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [9.5031099319458, -0.3136729598045349, -0.5827919840812683], "goal_radius": 3.0, "reference_path": "[[-3.2815299034118652, 0.3673364818096161, -3.934299945831299], [-0.7227630019187927, -0.238108292222023, -1.7989599704742432], [3.308759927749634, -0.3136729598045349, -0.773468017578125], [6.1225199699401855, -0.3136729598045349, 0.07438799738883972], [7.073400020599365, -0.3136729598045349, 0.3250339925289154], [9.5031099319458, -0.3136729598045349, -0.5827919840812683]]", "geodesic_distance": 13.896219253540039, "gt_locations": "[[-3.2815299034118652, 0.3673364818096161, -3.934299945831299], [-3.104753255844116, 0.3505313992500305, -3.7575230598449707], [-2.927976608276367, 0.33372634649276733, -3.5807461738586426], [-2.751199960708618, 0.31692129373550415, -3.4039692878723145], [-2.626199960708618, 0.2583724558353424, -3.1874630451202393], [-2.501199960708618, 0.15044784545898438, -2.970956802368164], [-2.376199960708618, 0.048498883843421936, -2.754450559616089], [-2.199423313140869, -0.05598931014537811, -2.57767391204834], [-1.956282615661621, -0.11367297172546387, -2.49637770652771], [-1.7397762537002563, -0.13685882091522217, -2.37137770652771], [-1.5232698917388916, -0.16004467010498047, -2.24637770652771], [-1.3067635297775269, -0.18265420198440552, -2.12137770652771], [-1.090257167816162, -0.2033785879611969, -1.99637770652771], [-0.8737508654594421, -0.2241029441356659, -1.87137770652771], [-0.6572445631027222, -0.24482731521129608, -1.74637770652771], [-0.4407382607460022, -0.26555168628692627, -1.62137770652771], [-0.22423194348812103, -0.28627604246139526, -1.49637770652771], [-0.007725626230239868, -0.30700042843818665, -1.37137770652771], [0.2087806910276413, -0.3136729598045349, -1.24637770652771], [0.42528700828552246, -0.3136729598045349, -1.12137770652771], [0.6682384014129639, -0.3136729598045349, -1.038543701171875], [0.9097198247909546, -0.3136729598045349, -0.9738389253616333], [1.1597198247909546, -0.3136729598045349, -0.9738389253616333], [1.4097198247909546, -0.3136729598045349, -0.9738389253616333], [1.6512012481689453, -0.3136729598045349, -0.9091341495513916], [1.9012012481689453, -0.3136729598045349, -0.9091341495513916], [2.1512012481689453, -0.3136729598045349, -0.9091341495513916], [2.4012012481689453, -0.3136729598045349, -0.9091341495513916], [2.6512012481689453, -0.3136729598045349, -0.9091341495513916], [2.8926827907562256, -0.3136729598045349, -0.8444293737411499], [3.134164333343506, -0.3136729598045349, -0.7797245979309082], [3.375645875930786, -0.3136729598045349, -0.7150198221206665], [3.6171274185180664, -0.3136729598045349, -0.6503150463104248], [3.8586089611053467, -0.3136729598045349, -0.5856102705001831], [4.100090503692627, -0.3136729598045349, -0.5209054946899414], [4.341571807861328, -0.3136729598045349, -0.4562006890773773], [4.583053112030029, -0.3136729598045349, -0.39149588346481323], [4.8245344161987305, -0.3136729598045349, -0.32679107785224915], [5.066015720367432, -0.3136729598045349, -0.26208627223968506], [5.307497024536133, -0.3136729598045349, -0.19738146662712097], [5.548978328704834, -0.3136729598045349, -0.13267666101455688], [5.790459632873535, -0.3136729598045349, -0.0679718554019928], [6.031940937042236, -0.3136729598045349, -0.003267049789428711], [6.2734222412109375, -0.3136729598045349, 0.061437755823135376], [6.514903545379639, -0.3136729598045349, 0.12614256143569946], [6.75638484954834, -0.3136729598045349, 0.19084736704826355], [6.997866153717041, -0.3136729598045349, 0.12614260613918304], [7.239347457885742, -0.3136729598045349, 0.06143784523010254], [7.480828762054443, -0.3136729598045349, -0.0032669156789779663], [7.7223100662231445, -0.3136729598045349, -0.06797167658805847], [7.963791370391846, -0.3136729598045349, -0.13267643749713898], [8.205272674560547, -0.3136729598045349, -0.19738119840621948], [8.446754455566406, -0.3136729598045349, -0.2620859742164612], [8.688236236572266, -0.3136729598045349, -0.3267907500267029], [8.929718017578125, -0.3136729598045349, -0.3914955258369446], [9.171199798583984, -0.3136729598045349, -0.4562003016471863]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 767, "episode_id": "768", "scene_id": "kEZ7cmS4wCh", "instruction": "Continue down the stairs, and take a left. Head outside on the left of the pool. Stop on the left of the stairs into the pool. ", "start_position": [-3.2815299034118652, 0.3673364818096161, -3.934299945831299], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [9.5031099319458, -0.3136729598045349, -0.5827919840812683], "goal_radius": 3.0, "reference_path": "[[-3.2815299034118652, 0.3673364818096161, -3.934299945831299], [-0.7227630019187927, -0.238108292222023, -1.7989599704742432], [3.308759927749634, -0.3136729598045349, -0.773468017578125], [6.1225199699401855, -0.3136729598045349, 0.07438799738883972], [7.073400020599365, -0.3136729598045349, 0.3250339925289154], [9.5031099319458, -0.3136729598045349, -0.5827919840812683]]", "geodesic_distance": 13.896219253540039, "gt_locations": "[[-3.2815299034118652, 0.3673364818096161, -3.934299945831299], [-3.104753255844116, 0.3505313992500305, -3.7575230598449707], [-2.927976608276367, 0.33372634649276733, -3.5807461738586426], [-2.751199960708618, 0.31692129373550415, -3.4039692878723145], [-2.626199960708618, 0.2583724558353424, -3.1874630451202393], [-2.501199960708618, 0.15044784545898438, -2.970956802368164], [-2.376199960708618, 0.048498883843421936, -2.754450559616089], [-2.199423313140869, -0.05598931014537811, -2.57767391204834], [-1.956282615661621, -0.11367297172546387, -2.49637770652771], [-1.7397762537002563, -0.13685882091522217, -2.37137770652771], [-1.5232698917388916, -0.16004467010498047, -2.24637770652771], [-1.3067635297775269, -0.18265420198440552, -2.12137770652771], [-1.090257167816162, -0.2033785879611969, -1.99637770652771], [-0.8737508654594421, -0.2241029441356659, -1.87137770652771], [-0.6572445631027222, -0.24482731521129608, -1.74637770652771], [-0.4407382607460022, -0.26555168628692627, -1.62137770652771], [-0.22423194348812103, -0.28627604246139526, -1.49637770652771], [-0.007725626230239868, -0.30700042843818665, -1.37137770652771], [0.2087806910276413, -0.3136729598045349, -1.24637770652771], [0.42528700828552246, -0.3136729598045349, -1.12137770652771], [0.6682384014129639, -0.3136729598045349, -1.038543701171875], [0.9097198247909546, -0.3136729598045349, -0.9738389253616333], [1.1597198247909546, -0.3136729598045349, -0.9738389253616333], [1.4097198247909546, -0.3136729598045349, -0.9738389253616333], [1.6512012481689453, -0.3136729598045349, -0.9091341495513916], [1.9012012481689453, -0.3136729598045349, -0.9091341495513916], [2.1512012481689453, -0.3136729598045349, -0.9091341495513916], [2.4012012481689453, -0.3136729598045349, -0.9091341495513916], [2.6512012481689453, -0.3136729598045349, -0.9091341495513916], [2.8926827907562256, -0.3136729598045349, -0.8444293737411499], [3.134164333343506, -0.3136729598045349, -0.7797245979309082], [3.375645875930786, -0.3136729598045349, -0.7150198221206665], [3.6171274185180664, -0.3136729598045349, -0.6503150463104248], [3.8586089611053467, -0.3136729598045349, -0.5856102705001831], [4.100090503692627, -0.3136729598045349, -0.5209054946899414], [4.341571807861328, -0.3136729598045349, -0.4562006890773773], [4.583053112030029, -0.3136729598045349, -0.39149588346481323], [4.8245344161987305, -0.3136729598045349, -0.32679107785224915], [5.066015720367432, -0.3136729598045349, -0.26208627223968506], [5.307497024536133, -0.3136729598045349, -0.19738146662712097], [5.548978328704834, -0.3136729598045349, -0.13267666101455688], [5.790459632873535, -0.3136729598045349, -0.0679718554019928], [6.031940937042236, -0.3136729598045349, -0.003267049789428711], [6.2734222412109375, -0.3136729598045349, 0.061437755823135376], [6.514903545379639, -0.3136729598045349, 0.12614256143569946], [6.75638484954834, -0.3136729598045349, 0.19084736704826355], [6.997866153717041, -0.3136729598045349, 0.12614260613918304], [7.239347457885742, -0.3136729598045349, 0.06143784523010254], [7.480828762054443, -0.3136729598045349, -0.0032669156789779663], [7.7223100662231445, -0.3136729598045349, -0.06797167658805847], [7.963791370391846, -0.3136729598045349, -0.13267643749713898], [8.205272674560547, -0.3136729598045349, -0.19738119840621948], [8.446754455566406, -0.3136729598045349, -0.2620859742164612], [8.688236236572266, -0.3136729598045349, -0.3267907500267029], [8.929718017578125, -0.3136729598045349, -0.3914955258369446], [9.171199798583984, -0.3136729598045349, -0.4562003016471863]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 768, "episode_id": "769", "scene_id": "kEZ7cmS4wCh", "instruction": "Walk slightly forward and turn left. Walk outside and wait by the pool. ", "start_position": [-3.2815299034118652, 0.3673364818096161, -3.934299945831299], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [9.5031099319458, -0.3136729598045349, -0.5827919840812683], "goal_radius": 3.0, "reference_path": "[[-3.2815299034118652, 0.3673364818096161, -3.934299945831299], [-0.7227630019187927, -0.238108292222023, -1.7989599704742432], [3.308759927749634, -0.3136729598045349, -0.773468017578125], [6.1225199699401855, -0.3136729598045349, 0.07438799738883972], [7.073400020599365, -0.3136729598045349, 0.3250339925289154], [9.5031099319458, -0.3136729598045349, -0.5827919840812683]]", "geodesic_distance": 13.896219253540039, "gt_locations": "[[-3.2815299034118652, 0.3673364818096161, -3.934299945831299], [-3.104753255844116, 0.3505313992500305, -3.7575230598449707], [-2.927976608276367, 0.33372634649276733, -3.5807461738586426], [-2.751199960708618, 0.31692129373550415, -3.4039692878723145], [-2.626199960708618, 0.2583724558353424, -3.1874630451202393], [-2.501199960708618, 0.15044784545898438, -2.970956802368164], [-2.376199960708618, 0.048498883843421936, -2.754450559616089], [-2.199423313140869, -0.05598931014537811, -2.57767391204834], [-1.956282615661621, -0.11367297172546387, -2.49637770652771], [-1.7397762537002563, -0.13685882091522217, -2.37137770652771], [-1.5232698917388916, -0.16004467010498047, -2.24637770652771], [-1.3067635297775269, -0.18265420198440552, -2.12137770652771], [-1.090257167816162, -0.2033785879611969, -1.99637770652771], [-0.8737508654594421, -0.2241029441356659, -1.87137770652771], [-0.6572445631027222, -0.24482731521129608, -1.74637770652771], [-0.4407382607460022, -0.26555168628692627, -1.62137770652771], [-0.22423194348812103, -0.28627604246139526, -1.49637770652771], [-0.007725626230239868, -0.30700042843818665, -1.37137770652771], [0.2087806910276413, -0.3136729598045349, -1.24637770652771], [0.42528700828552246, -0.3136729598045349, -1.12137770652771], [0.6682384014129639, -0.3136729598045349, -1.038543701171875], [0.9097198247909546, -0.3136729598045349, -0.9738389253616333], [1.1597198247909546, -0.3136729598045349, -0.9738389253616333], [1.4097198247909546, -0.3136729598045349, -0.9738389253616333], [1.6512012481689453, -0.3136729598045349, -0.9091341495513916], [1.9012012481689453, -0.3136729598045349, -0.9091341495513916], [2.1512012481689453, -0.3136729598045349, -0.9091341495513916], [2.4012012481689453, -0.3136729598045349, -0.9091341495513916], [2.6512012481689453, -0.3136729598045349, -0.9091341495513916], [2.8926827907562256, -0.3136729598045349, -0.8444293737411499], [3.134164333343506, -0.3136729598045349, -0.7797245979309082], [3.375645875930786, -0.3136729598045349, -0.7150198221206665], [3.6171274185180664, -0.3136729598045349, -0.6503150463104248], [3.8586089611053467, -0.3136729598045349, -0.5856102705001831], [4.100090503692627, -0.3136729598045349, -0.5209054946899414], [4.341571807861328, -0.3136729598045349, -0.4562006890773773], [4.583053112030029, -0.3136729598045349, -0.39149588346481323], [4.8245344161987305, -0.3136729598045349, -0.32679107785224915], [5.066015720367432, -0.3136729598045349, -0.26208627223968506], [5.307497024536133, -0.3136729598045349, -0.19738146662712097], [5.548978328704834, -0.3136729598045349, -0.13267666101455688], [5.790459632873535, -0.3136729598045349, -0.0679718554019928], [6.031940937042236, -0.3136729598045349, -0.003267049789428711], [6.2734222412109375, -0.3136729598045349, 0.061437755823135376], [6.514903545379639, -0.3136729598045349, 0.12614256143569946], [6.75638484954834, -0.3136729598045349, 0.19084736704826355], [6.997866153717041, -0.3136729598045349, 0.12614260613918304], [7.239347457885742, -0.3136729598045349, 0.06143784523010254], [7.480828762054443, -0.3136729598045349, -0.0032669156789779663], [7.7223100662231445, -0.3136729598045349, -0.06797167658805847], [7.963791370391846, -0.3136729598045349, -0.13267643749713898], [8.205272674560547, -0.3136729598045349, -0.19738119840621948], [8.446754455566406, -0.3136729598045349, -0.2620859742164612], [8.688236236572266, -0.3136729598045349, -0.3267907500267029], [8.929718017578125, -0.3136729598045349, -0.3914955258369446], [9.171199798583984, -0.3136729598045349, -0.4562003016471863]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 1, 1, 1, 3, 1, 1, 1, 2, 1, 2, 2, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 2, 1, 1, 3, 1, 2, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0]"}
{"id": 769, "episode_id": "770", "scene_id": "cV4RVeZvu5T", "instruction": "Go up the steps. Turn left and go up more steps until you get to a grey door. Go straight into the room and stand near the black chairs. ", "start_position": [2.517009973526001, -0.6170542240142822, 8.326600074768066], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.261120080947876, 0.9184679985046387, 6.269139766693115], "goal_radius": 3.0, "reference_path": "[[2.517009973526001, -0.6170542240142822, 8.326600074768066], [2.4370100498199463, 0.11846804618835449, 6.555200099945068], [0.26338401436805725, 0.9312430620193481, 6.538599967956543], [-0.6482639908790588, 0.9184679985046387, 6.242839813232422], [-2.261120080947876, 0.9184679985046387, 6.269139766693115]]", "geodesic_distance": 6.180513381958008, "gt_locations": "[[2.517009973526001, -0.6170542240142822, 8.326600074768066], [2.517009973526001, -0.4880218505859375, 8.076600074768066], [2.517009973526001, -0.35898956656455994, 7.826600074768066], [2.517009973526001, -0.19509628415107727, 7.576600074768066], [2.517009973526001, 0.015429988503456116, 7.326600074768066], [2.517009973526001, 0.11846804618835449, 7.076600074768066], [2.517009973526001, 0.11846804618835449, 6.826600074768066], [2.2755284309387207, 0.11846804618835449, 6.761895179748535], [2.0340468883514404, 0.11846804618835449, 6.697190284729004], [1.7925653457641602, 0.14041580259799957, 6.632485389709473], [1.5510838031768799, 0.3485223650932312, 6.567780494689941], [1.3096022605895996, 0.5762121677398682, 6.50307559967041], [1.0596022605895996, 0.7139579653739929, 6.50307559967041], [0.8096022605895996, 0.8443926572799683, 6.50307559967041], [0.5596022605895996, 0.9748274087905884, 6.50307559967041], [0.3181207776069641, 0.9185108542442322, 6.438370704650879], [0.07663930952548981, 0.9184679985046387, 6.373665809631348], [-0.17336072027683258, 0.9184679985046387, 6.373665809631348], [-0.42336076498031616, 0.9184679985046387, 6.373665809631348], [-0.6733608245849609, 0.9184679985046387, 6.373665809631348], [-0.9233608245849609, 0.9184679985046387, 6.373665809631348], [-1.173360824584961, 0.9184679985046387, 6.373665809631348], [-1.423360824584961, 0.9184679985046387, 6.373665809631348], [-1.673360824584961, 0.9184679985046387, 6.373665809631348], [-1.9148423671722412, 0.9184679985046387, 6.308960914611816]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 770, "episode_id": "771", "scene_id": "cV4RVeZvu5T", "instruction": "Walk up the stairs. Turn left and walk up the first set of stairs. Enter the living area and wait there. ", "start_position": [2.517009973526001, -0.6170542240142822, 8.326600074768066], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.261120080947876, 0.9184679985046387, 6.269139766693115], "goal_radius": 3.0, "reference_path": "[[2.517009973526001, -0.6170542240142822, 8.326600074768066], [2.4370100498199463, 0.11846804618835449, 6.555200099945068], [0.26338401436805725, 0.9312430620193481, 6.538599967956543], [-0.6482639908790588, 0.9184679985046387, 6.242839813232422], [-2.261120080947876, 0.9184679985046387, 6.269139766693115]]", "geodesic_distance": 6.180513381958008, "gt_locations": "[[2.517009973526001, -0.6170542240142822, 8.326600074768066], [2.517009973526001, -0.4880218505859375, 8.076600074768066], [2.517009973526001, -0.35898956656455994, 7.826600074768066], [2.517009973526001, -0.19509628415107727, 7.576600074768066], [2.517009973526001, 0.015429988503456116, 7.326600074768066], [2.517009973526001, 0.11846804618835449, 7.076600074768066], [2.517009973526001, 0.11846804618835449, 6.826600074768066], [2.2755284309387207, 0.11846804618835449, 6.761895179748535], [2.0340468883514404, 0.11846804618835449, 6.697190284729004], [1.7925653457641602, 0.14041580259799957, 6.632485389709473], [1.5510838031768799, 0.3485223650932312, 6.567780494689941], [1.3096022605895996, 0.5762121677398682, 6.50307559967041], [1.0596022605895996, 0.7139579653739929, 6.50307559967041], [0.8096022605895996, 0.8443926572799683, 6.50307559967041], [0.5596022605895996, 0.9748274087905884, 6.50307559967041], [0.3181207776069641, 0.9185108542442322, 6.438370704650879], [0.07663930952548981, 0.9184679985046387, 6.373665809631348], [-0.17336072027683258, 0.9184679985046387, 6.373665809631348], [-0.42336076498031616, 0.9184679985046387, 6.373665809631348], [-0.6733608245849609, 0.9184679985046387, 6.373665809631348], [-0.9233608245849609, 0.9184679985046387, 6.373665809631348], [-1.173360824584961, 0.9184679985046387, 6.373665809631348], [-1.423360824584961, 0.9184679985046387, 6.373665809631348], [-1.673360824584961, 0.9184679985046387, 6.373665809631348], [-1.9148423671722412, 0.9184679985046387, 6.308960914611816]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 771, "episode_id": "772", "scene_id": "cV4RVeZvu5T", "instruction": "Walk forward up stairs. Turn hard left. Walk up the second set of stairs. At top, walk forward towards the fireplace. Stop halfway between the doorway and the black chairs in front of the fireplace. ", "start_position": [2.517009973526001, -0.6170542240142822, 8.326600074768066], "start_rotation": [-0.0, 0.0, 0.0, 1.0], "goal_position": [-2.261120080947876, 0.9184679985046387, 6.269139766693115], "goal_radius": 3.0, "reference_path": "[[2.517009973526001, -0.6170542240142822, 8.326600074768066], [2.4370100498199463, 0.11846804618835449, 6.555200099945068], [0.26338401436805725, 0.9312430620193481, 6.538599967956543], [-0.6482639908790588, 0.9184679985046387, 6.242839813232422], [-2.261120080947876, 0.9184679985046387, 6.269139766693115]]", "geodesic_distance": 6.180513381958008, "gt_locations": "[[2.517009973526001, -0.6170542240142822, 8.326600074768066], [2.517009973526001, -0.4880218505859375, 8.076600074768066], [2.517009973526001, -0.35898956656455994, 7.826600074768066], [2.517009973526001, -0.19509628415107727, 7.576600074768066], [2.517009973526001, 0.015429988503456116, 7.326600074768066], [2.517009973526001, 0.11846804618835449, 7.076600074768066], [2.517009973526001, 0.11846804618835449, 6.826600074768066], [2.2755284309387207, 0.11846804618835449, 6.761895179748535], [2.0340468883514404, 0.11846804618835449, 6.697190284729004], [1.7925653457641602, 0.14041580259799957, 6.632485389709473], [1.5510838031768799, 0.3485223650932312, 6.567780494689941], [1.3096022605895996, 0.5762121677398682, 6.50307559967041], [1.0596022605895996, 0.7139579653739929, 6.50307559967041], [0.8096022605895996, 0.8443926572799683, 6.50307559967041], [0.5596022605895996, 0.9748274087905884, 6.50307559967041], [0.3181207776069641, 0.9185108542442322, 6.438370704650879], [0.07663930952548981, 0.9184679985046387, 6.373665809631348], [-0.17336072027683258, 0.9184679985046387, 6.373665809631348], [-0.42336076498031616, 0.9184679985046387, 6.373665809631348], [-0.6733608245849609, 0.9184679985046387, 6.373665809631348], [-0.9233608245849609, 0.9184679985046387, 6.373665809631348], [-1.173360824584961, 0.9184679985046387, 6.373665809631348], [-1.423360824584961, 0.9184679985046387, 6.373665809631348], [-1.673360824584961, 0.9184679985046387, 6.373665809631348], [-1.9148423671722412, 0.9184679985046387, 6.308960914611816]]", "gt_actions": "[1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 1, 1, 1, 1, 1, 2, 1, 1, 1, 3, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 3, 1, 0]"}
{"id": 772, "episode_id": "773", "scene_id": "mJXqzFtmKg4", "instruction": "Turn left and walk down the hall. At the end of the corner turn right. Wait by the chair. ", "start_position": [1.7055399417877197, 0.003321051597595215, -18.929000854492188], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [0.6850709915161133, 0.003321051597595215, -13.719799995422363], "goal_radius": 3.0, "reference_path": "[[1.7055399417877197, 0.003321051597595215, -18.929000854492188], [2.2253599166870117, 0.003321051597595215, -17.240999221801758], [2.2809700965881348, 0.003321051597595215, -16.176700592041016], [2.2337899208068848, 0.003321051597595215, -15.371500015258789], [2.2924599647521973, 0.003321051597595215, -14.878999710083008], [0.6850709915161133, 0.003321051597595215, -13.719799995422363]]", "geodesic_distance": 5.775798797607422, "gt_locations": "[[1.7055399417877197, 0.003321051597595215, -18.929000854492188], [1.7702447175979614, 0.003321051597595215, -18.687519073486328], [1.8952447175979614, 0.003321051597595215, -18.471012115478516], [1.9599494934082031, 0.003321051597595215, -18.229530334472656], [2.0246541500091553, 0.003321051597595215, -17.988048553466797], [2.0893588066101074, 0.003321051597595215, -17.746566772460938], [2.1540634632110596, 0.003321051597595215, -17.505084991455078], [2.2187681198120117, 0.003321051597595215, -17.26360321044922], [2.2187681198120117, 0.003321051597595215, -17.01360321044922], [2.2187681198120117, 0.003321051597595215, -16.76360321044922], [2.2187681198120117, 0.003321051597595215, -16.51360321044922], [2.2187681198120117, 0.003321051597595215, -16.26360321044922], [2.2187681198120117, 0.003321051597595215, -16.01360321044922], [2.2187681198120117, 0.003321051597595215, -15.763603210449219], [2.2187681198120117, 0.003321051597595215, -15.513603210449219], [2.2187681198120117, 0.003321051597595215, -15.263603210449219], [2.0937681198120117, 0.003321051597595215, -15.047097206115723], [1.9687681198120117, 0.003321051597595215, -14.830591201782227], [1.8437681198120117, 0.003321051597595215, -14.61408519744873], [1.7187681198120117, 0.003321051597595215, -14.397579193115234], [1.5419914722442627, 0.003321051597595215, -14.220802307128906], [1.300510048866272, 0.003321051597595215, -14.123573303222656], [1.0840036869049072, 0.003321051597595215, -13.998573303222656]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 1, 2, 1, 0]"}
{"id": 773, "episode_id": "774", "scene_id": "mJXqzFtmKg4", "instruction": "Walk forward to the door with window and turn right. Wait outside the room with the big rug. ", "start_position": [1.7055399417877197, 0.003321051597595215, -18.929000854492188], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [0.6850709915161133, 0.003321051597595215, -13.719799995422363], "goal_radius": 3.0, "reference_path": "[[1.7055399417877197, 0.003321051597595215, -18.929000854492188], [2.2253599166870117, 0.003321051597595215, -17.240999221801758], [2.2809700965881348, 0.003321051597595215, -16.176700592041016], [2.2337899208068848, 0.003321051597595215, -15.371500015258789], [2.2924599647521973, 0.003321051597595215, -14.878999710083008], [0.6850709915161133, 0.003321051597595215, -13.719799995422363]]", "geodesic_distance": 5.775798797607422, "gt_locations": "[[1.7055399417877197, 0.003321051597595215, -18.929000854492188], [1.7702447175979614, 0.003321051597595215, -18.687519073486328], [1.8952447175979614, 0.003321051597595215, -18.471012115478516], [1.9599494934082031, 0.003321051597595215, -18.229530334472656], [2.0246541500091553, 0.003321051597595215, -17.988048553466797], [2.0893588066101074, 0.003321051597595215, -17.746566772460938], [2.1540634632110596, 0.003321051597595215, -17.505084991455078], [2.2187681198120117, 0.003321051597595215, -17.26360321044922], [2.2187681198120117, 0.003321051597595215, -17.01360321044922], [2.2187681198120117, 0.003321051597595215, -16.76360321044922], [2.2187681198120117, 0.003321051597595215, -16.51360321044922], [2.2187681198120117, 0.003321051597595215, -16.26360321044922], [2.2187681198120117, 0.003321051597595215, -16.01360321044922], [2.2187681198120117, 0.003321051597595215, -15.763603210449219], [2.2187681198120117, 0.003321051597595215, -15.513603210449219], [2.2187681198120117, 0.003321051597595215, -15.263603210449219], [2.0937681198120117, 0.003321051597595215, -15.047097206115723], [1.9687681198120117, 0.003321051597595215, -14.830591201782227], [1.8437681198120117, 0.003321051597595215, -14.61408519744873], [1.7187681198120117, 0.003321051597595215, -14.397579193115234], [1.5419914722442627, 0.003321051597595215, -14.220802307128906], [1.300510048866272, 0.003321051597595215, -14.123573303222656], [1.0840036869049072, 0.003321051597595215, -13.998573303222656]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 1, 2, 1, 0]"}
{"id": 774, "episode_id": "775", "scene_id": "mJXqzFtmKg4", "instruction": "Turn around and walk straight ahead down the hallway in front of you. At the end, turn right to enter the room beside the door leading outside. Stop once you enter the door. ", "start_position": [1.7055399417877197, 0.003321051597595215, -18.929000854492188], "start_rotation": [-0.0, 0.258819045102521, -0.0, -0.9659258262890682], "goal_position": [0.6850709915161133, 0.003321051597595215, -13.719799995422363], "goal_radius": 3.0, "reference_path": "[[1.7055399417877197, 0.003321051597595215, -18.929000854492188], [2.2253599166870117, 0.003321051597595215, -17.240999221801758], [2.2809700965881348, 0.003321051597595215, -16.176700592041016], [2.2337899208068848, 0.003321051597595215, -15.371500015258789], [2.2924599647521973, 0.003321051597595215, -14.878999710083008], [0.6850709915161133, 0.003321051597595215, -13.719799995422363]]", "geodesic_distance": 5.775798797607422, "gt_locations": "[[1.7055399417877197, 0.003321051597595215, -18.929000854492188], [1.7702447175979614, 0.003321051597595215, -18.687519073486328], [1.8952447175979614, 0.003321051597595215, -18.471012115478516], [1.9599494934082031, 0.003321051597595215, -18.229530334472656], [2.0246541500091553, 0.003321051597595215, -17.988048553466797], [2.0893588066101074, 0.003321051597595215, -17.746566772460938], [2.1540634632110596, 0.003321051597595215, -17.505084991455078], [2.2187681198120117, 0.003321051597595215, -17.26360321044922], [2.2187681198120117, 0.003321051597595215, -17.01360321044922], [2.2187681198120117, 0.003321051597595215, -16.76360321044922], [2.2187681198120117, 0.003321051597595215, -16.51360321044922], [2.2187681198120117, 0.003321051597595215, -16.26360321044922], [2.2187681198120117, 0.003321051597595215, -16.01360321044922], [2.2187681198120117, 0.003321051597595215, -15.763603210449219], [2.2187681198120117, 0.003321051597595215, -15.513603210449219], [2.2187681198120117, 0.003321051597595215, -15.263603210449219], [2.0937681198120117, 0.003321051597595215, -15.047097206115723], [1.9687681198120117, 0.003321051597595215, -14.830591201782227], [1.8437681198120117, 0.003321051597595215, -14.61408519744873], [1.7187681198120117, 0.003321051597595215, -14.397579193115234], [1.5419914722442627, 0.003321051597595215, -14.220802307128906], [1.300510048866272, 0.003321051597595215, -14.123573303222656], [1.0840036869049072, 0.003321051597595215, -13.998573303222656]]", "gt_actions": "[3, 3, 3, 3, 3, 3, 3, 3, 3, 1, 2, 1, 3, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 1, 1, 1, 1, 3, 1, 3, 3, 1, 2, 1, 0]"}
{"id": 775, "episode_id": "776", "scene_id": "1pXnuDYAj8r", "instruction": "With the stairs leading down behind you and to your left, move forward parallel to the banister on your left. Continue forward until you reach the wall and then turn ninety degrees to the right. Stop in front of the first door you reach that's directly to your right. ", "start_position": [8.149279594421387, 3.514145851135254, -0.012265999801456928], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [6.3804497718811035, 3.514145851135254, 7.993269920349121], "goal_radius": 3.0, "reference_path": "[[8.149279594421387, 3.514145851135254, -0.012265999801456928], [8.097990036010742, 3.514145851135254, 2.1922199726104736], [8.024129867553711, 3.514145851135254, 4.054989814758301], [8.000040054321289, 3.514145851135254, 7.90339994430542], [6.3804497718811035, 3.514145851135254, 7.993269920349121]]", "geodesic_distance": 8.914321899414062, "gt_locations": "[[8.149279594421387, 3.514145851135254, -0.012265999801456928], [8.149279594421387, 3.514145851135254, 0.23773400485515594], [8.149279594421387, 3.514145851135254, 0.48773401975631714], [8.149279594421387, 3.514145851135254, 0.7377340197563171], [8.149279594421387, 3.514145851135254, 0.9877340197563171], [8.149279594421387, 3.514145851135254, 1.237734079360962], [8.149279594421387, 3.514145851135254, 1.487734079360962], [8.149279594421387, 3.514145851135254, 1.737734079360962], [8.149279594421387, 3.514145851135254, 1.987734079360962], [8.149279594421387, 3.514145851135254, 2.237734079360962], [8.149279594421387, 3.514145851135254, 2.487734079360962], [8.149279594421387, 3.514145851135254, 2.737734079360962], [8.149279594421387, 3.514145851135254, 2.987734079360962], [8.149279594421387, 3.514145851135254, 3.237734079360962], [8.149279594421387, 3.514145851135254, 3.487734079360962], [8.084574699401855, 3.514145851135254, 3.729215621948242], [8.084574699401855, 3.514145851135254, 3.979215621948242], [8.084574699401855, 3.514145851135254, 4.229215621948242], [8.084574699401855, 3.514145851135254, 4.479215621948242], [8.084574699401855, 3.514145851135254, 4.729215621948242], [8.084574699401855, 3.514145851135254, 4.979215621948242], [8.084574699401855, 3.514145851135254, 5.229215621948242], [8.084574699401855, 3.514145851135254, 5.479215621948242], [8.084574699401855, 3.514145851135254, 5.729215621948242], [8.084574699401855, 3.514145851135254, 5.979215621948242], [8.084574699401855, 3.514145851135254, 6.229215621948242], [8.084574699401855, 3.514145851135254, 6.479215621948242], [8.084574699401855, 3.514145851135254, 6.729215621948242], [8.084574699401855, 3.514145851135254, 6.979215621948242], [8.084574699401855, 3.514145851135254, 7.229215621948242], [8.084574699401855, 3.514145851135254, 7.479215621948242], [7.868068218231201, 3.514145851135254, 7.604215621948242], [7.6265869140625, 3.514145851135254, 7.668920516967773], [7.385105609893799, 3.514145851135254, 7.733625411987305], [7.143624305725098, 3.514145851135254, 7.798330307006836], [6.9021430015563965, 3.514145851135254, 7.863035202026367], [6.660661697387695, 3.514145851135254, 7.927740097045898]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 776, "episode_id": "777", "scene_id": "1pXnuDYAj8r", "instruction": "Turn right to walk down the bannister toward the desks. Walk past the desks down the hall. At the feather art on the wall, turn right. Walk down the hall. Stop in front of the first door on the right. ", "start_position": [8.149279594421387, 3.514145851135254, -0.012265999801456928], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [6.3804497718811035, 3.514145851135254, 7.993269920349121], "goal_radius": 3.0, "reference_path": "[[8.149279594421387, 3.514145851135254, -0.012265999801456928], [8.097990036010742, 3.514145851135254, 2.1922199726104736], [8.024129867553711, 3.514145851135254, 4.054989814758301], [8.000040054321289, 3.514145851135254, 7.90339994430542], [6.3804497718811035, 3.514145851135254, 7.993269920349121]]", "geodesic_distance": 8.914321899414062, "gt_locations": "[[8.149279594421387, 3.514145851135254, -0.012265999801456928], [8.149279594421387, 3.514145851135254, 0.23773400485515594], [8.149279594421387, 3.514145851135254, 0.48773401975631714], [8.149279594421387, 3.514145851135254, 0.7377340197563171], [8.149279594421387, 3.514145851135254, 0.9877340197563171], [8.149279594421387, 3.514145851135254, 1.237734079360962], [8.149279594421387, 3.514145851135254, 1.487734079360962], [8.149279594421387, 3.514145851135254, 1.737734079360962], [8.149279594421387, 3.514145851135254, 1.987734079360962], [8.149279594421387, 3.514145851135254, 2.237734079360962], [8.149279594421387, 3.514145851135254, 2.487734079360962], [8.149279594421387, 3.514145851135254, 2.737734079360962], [8.149279594421387, 3.514145851135254, 2.987734079360962], [8.149279594421387, 3.514145851135254, 3.237734079360962], [8.149279594421387, 3.514145851135254, 3.487734079360962], [8.084574699401855, 3.514145851135254, 3.729215621948242], [8.084574699401855, 3.514145851135254, 3.979215621948242], [8.084574699401855, 3.514145851135254, 4.229215621948242], [8.084574699401855, 3.514145851135254, 4.479215621948242], [8.084574699401855, 3.514145851135254, 4.729215621948242], [8.084574699401855, 3.514145851135254, 4.979215621948242], [8.084574699401855, 3.514145851135254, 5.229215621948242], [8.084574699401855, 3.514145851135254, 5.479215621948242], [8.084574699401855, 3.514145851135254, 5.729215621948242], [8.084574699401855, 3.514145851135254, 5.979215621948242], [8.084574699401855, 3.514145851135254, 6.229215621948242], [8.084574699401855, 3.514145851135254, 6.479215621948242], [8.084574699401855, 3.514145851135254, 6.729215621948242], [8.084574699401855, 3.514145851135254, 6.979215621948242], [8.084574699401855, 3.514145851135254, 7.229215621948242], [8.084574699401855, 3.514145851135254, 7.479215621948242], [7.868068218231201, 3.514145851135254, 7.604215621948242], [7.6265869140625, 3.514145851135254, 7.668920516967773], [7.385105609893799, 3.514145851135254, 7.733625411987305], [7.143624305725098, 3.514145851135254, 7.798330307006836], [6.9021430015563965, 3.514145851135254, 7.863035202026367], [6.660661697387695, 3.514145851135254, 7.927740097045898]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 0]"}
{"id": 777, "episode_id": "778", "scene_id": "1pXnuDYAj8r", "instruction": "Turn right and then  wait in the hallway. ", "start_position": [8.149279594421387, 3.514145851135254, -0.012265999801456928], "start_rotation": [-0.0, 0.8660254037844385, -0.0, -0.5000000000000002], "goal_position": [6.3804497718811035, 3.514145851135254, 7.993269920349121], "goal_radius": 3.0, "reference_path": "[[8.149279594421387, 3.514145851135254, -0.012265999801456928], [8.097990036010742, 3.514145851135254, 2.1922199726104736], [8.024129867553711, 3.514145851135254, 4.054989814758301], [8.000040054321289, 3.514145851135254, 7.90339994430542], [6.3804497718811035, 3.514145851135254, 7.993269920349121]]", "geodesic_distance": 8.914321899414062, "gt_locations": "[[8.149279594421387, 3.514145851135254, -0.012265999801456928], [8.149279594421387, 3.514145851135254, 0.23773400485515594], [8.149279594421387, 3.514145851135254, 0.48773401975631714], [8.149279594421387, 3.514145851135254, 0.7377340197563171], [8.149279594421387, 3.514145851135254, 0.9877340197563171], [8.149279594421387, 3.514145851135254, 1.237734079360962], [8.149279594421387, 3.514145851135254, 1.487734079360962], [8.149279594421387, 3.514145851135254, 1.737734079360962], [8.149279594421387, 3.514145851135254, 1.987734079360962], [8.149279594421387, 3.514145851135254, 2.237734079360962], [8.149279594421387, 3.514145851135254, 2.487734079360962], [8.149279594421387, 3.514145851135254, 2.737734079360962], [8.149279594421387, 3.514145851135254, 2.987734079360962], [8.149279594421387, 3.514145851135254, 3.237734079360962], [8.149279594421387, 3.514145851135254, 3.487734079360962], [8.084574699401855, 3.514145851135254, 3.729215621948242], [8.084574699401855, 3.514145851135254, 3.979215621948242], [8.084574699401855, 3.514145851135254, 4.229215621948242], [8.084574699401855, 3.514145851135254, 4.479215621948242], [8.084574699401855, 3.514145851135254, 4.729215621948242], [8.084574699401855, 3.514145851135254, 4.979215621948242], [8.084574699401855, 3.514145851135254, 5.229215621948242], [8.084574699401855, 3.514145851135254, 5.479215621948242], [8.084574699401855, 3.514145851135254, 5.729215621948242], [8.084574699401855, 3.514145851135254, 5.979215621948242], [8.084574699401855, 3.514145851135254, 6.229215621948242], [8.084574699401855, 3.514145851135254, 6.479215621948242], [8.084574699401855, 3.514145851135254, 6.729215621948242], [8.084574699401855, 3.514145851135254, 6.979215621948242], [8.084574699401855, 3.514145851135254, 7.229215621948242], [8.084574699401855, 3.514145851135254, 7.479215621948242], [7.868068218231201, 3.514145851135254, 7.604215621948242], [7.6265869140625, 3.514145851135254, 7.668920516967773], [7.385105609893799, 3.514145851135254, 7.733625411987305], [7.143624305725098, 3.514145851135254, 7.798330307006836], [6.9021430015563965, 3.514145851135254, 7.863035202026367], [6.660661697387695, 3.514145851135254, 7.927740097045898]]", "gt_actions": "[3, 3, 3, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 1, 3, 1, 1, 1, 1, 1, 0]"}