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- annotations/task-0015/episode_00150060.json +212 -0
- annotations/task-0015/episode_00150080.json +212 -0
- annotations/task-0015/episode_00150100.json +212 -0
- annotations/task-0015/episode_00150110.json +212 -0
- annotations/task-0015/episode_00150170.json +212 -0
- annotations/task-0015/episode_00150180.json +212 -0
- annotations/task-0015/episode_00150200.json +212 -0
- annotations/task-0015/episode_00150210.json +212 -0
- annotations/task-0015/episode_00150230.json +212 -0
- annotations/task-0015/episode_00150250.json +212 -0
- annotations/task-0015/episode_00150260.json +212 -0
- annotations/task-0015/episode_00150270.json +212 -0
- annotations/task-0015/episode_00150280.json +212 -0
- annotations/task-0015/episode_00150290.json +212 -0
- annotations/task-0015/episode_00150320.json +212 -0
- annotations/task-0015/episode_00150330.json +212 -0
- annotations/task-0015/episode_00150340.json +212 -0
- annotations/task-0015/episode_00150380.json +212 -0
- annotations/task-0015/episode_00150400.json +212 -0
- annotations/task-0015/episode_00150470.json +212 -0
- annotations/task-0015/episode_00150530.json +212 -0
- annotations/task-0015/episode_00150690.json +212 -0
- annotations/task-0015/episode_00150700.json +212 -0
- annotations/task-0015/episode_00150850.json +212 -0
- annotations/task-0015/episode_00150930.json +212 -0
- annotations/task-0015/episode_00150950.json +212 -0
- annotations/task-0015/episode_00151020.json +212 -0
- annotations/task-0015/episode_00151050.json +212 -0
- annotations/task-0015/episode_00151060.json +212 -0
- annotations/task-0015/episode_00151070.json +212 -0
- annotations/task-0015/episode_00151080.json +212 -0
- annotations/task-0015/episode_00151090.json +212 -0
- annotations/task-0015/episode_00151110.json +212 -0
- annotations/task-0015/episode_00151160.json +212 -0
- annotations/task-0015/episode_00151170.json +212 -0
- annotations/task-0015/episode_00151180.json +212 -0
- annotations/task-0015/episode_00151190.json +212 -0
- annotations/task-0015/episode_00151240.json +212 -0
- annotations/task-0015/episode_00151290.json +212 -0
- annotations/task-0015/episode_00151300.json +212 -0
- annotations/task-0015/episode_00151320.json +212 -0
- annotations/task-0015/episode_00151340.json +212 -0
- annotations/task-0015/episode_00151360.json +212 -0
- annotations/task-0015/episode_00151370.json +212 -0
- annotations/task-0015/episode_00151380.json +212 -0
- annotations/task-0015/episode_00151420.json +212 -0
- annotations/task-0015/episode_00151500.json +212 -0
- annotations/task-0015/episode_00151510.json +246 -0
- annotations/task-0015/episode_00151530.json +235 -0
- annotations/task-0015/episode_00151560.json +212 -0
annotations/task-0015/episode_00150060.json
ADDED
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| 1 |
+
{
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| 2 |
+
"task_name": "bringing in wood",
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| 3 |
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"data_folder": "",
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| 4 |
+
"meta_data": {
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| 5 |
+
"task_duration": 15162,
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| 6 |
+
"valid_duration": [150, 15312]
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| 7 |
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},
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| 8 |
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"skill_annotation": [
|
| 9 |
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{
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| 10 |
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"skill_idx": 0,
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| 11 |
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"skill_id": [1],
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["plywood_201"]],
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| 14 |
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"manipulating_object_id": [],
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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"mp_ef": [],
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| 19 |
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| 20 |
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},
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| 21 |
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
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| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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"memory_prefix": [],
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| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [1374, 2193],
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| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
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| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
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| 36 |
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"skill_description": ["move to"],
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| 37 |
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"object_id": [["door_vudhlc_1"]],
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| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [2580, 2988],
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| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
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| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
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| 48 |
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"skill_description": ["open door"],
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| 49 |
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"object_id": [["door_vudhlc_1"]],
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| 50 |
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"manipulating_object_id": [],
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| 51 |
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"memory_prefix": [],
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| 52 |
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"spatial_prefix": [],
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| 53 |
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"frame_duration": [3018, 4693],
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| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
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| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4693, 5672],
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| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
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| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5672, 6357],
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| 78 |
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"mp_ef": [],
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| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
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| 81 |
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{
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| 82 |
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"skill_idx": 6,
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| 83 |
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"skill_id": [1],
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| 84 |
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"skill_description": ["move to"],
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| 85 |
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"object_id": [["plywood_202"]],
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| 86 |
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"manipulating_object_id": [],
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| 87 |
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"memory_prefix": ["the other"],
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| 88 |
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"spatial_prefix": [],
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| 89 |
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"frame_duration": [6366, 9000],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
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| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
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| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [9010, 9757],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
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| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
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| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [9757, 10540],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [10540, 11229],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11229, 13877],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [13881, 14788],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14789, 15312],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
+
],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [150, 2193],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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"manipulating_object_id": [],
|
| 184 |
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"memory_prefix": [],
|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [2580, 4693],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4693, 6357],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
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{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6366, 15312],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150080.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15037,
|
| 6 |
+
"valid_duration": [120, 15157]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
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|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
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|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [120, 990],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
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|
| 20 |
+
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|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
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"frame_duration": [990, 1899],
|
| 30 |
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|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3051, 4630],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4630, 5531],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5531, 6120],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6120, 8339],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8339, 9647],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10567, 11494],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [11494, 13928],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [120, 1899],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1899, 4630],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4630, 6120],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6120, 15157],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150100.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14474,
|
| 6 |
+
"valid_duration": [105, 14579]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [105, 576],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
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"frame_duration": [578, 1577],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
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|
| 39 |
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|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1577, 3045],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3075, 4574],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4591, 5505],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5505, 6203],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6203, 7245],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [7455, 7990],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [7990, 9816],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [9816, 10578],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [10584, 13167],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [13167, 13989],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [13989, 14579],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [105, 1577],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1577, 4574],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4591, 6203],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6203, 14579],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150110.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
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|
| 15 |
+
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|
| 16 |
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|
| 17 |
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"frame_duration": [90, 269],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
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"frame_duration": [269, 1126],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1126, 2446],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2446, 3992],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3993, 4858],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4858, 5505],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5565, 7766],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [9400, 10170],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [10171, 12600],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [13314, 13743],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [90, 1126],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [1126, 3992],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3993, 5505],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5565, 13743],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150170.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [501, 1302],
|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1302, 3132],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": ["door_vudhlc_1"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3132, 4729],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [4730, 5499],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5499, 6228],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [6228, 7539],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [7539, 8475],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [8475, 10059],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14211, 14640],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1302],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": ["door_vudhlc_1"],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1302, 4729],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4730, 6228],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6228, 14640],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150180.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14846,
|
| 6 |
+
"valid_duration": [60, 14906]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 1977],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2037, 2804],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2805, 3332],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3359, 5425],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5737, 6597],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6687, 7292],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7292, 9165],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9166, 9834],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9835, 10691],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10692, 11400],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11400, 13915],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_202"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [13915, 14577],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14577, 14906],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 2804],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2805, 5425],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5737, 7292],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7292, 14906],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150200.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14679,
|
| 6 |
+
"valid_duration": [0, 14679]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 676],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [677, 1254],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1254, 2910],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2910, 5145],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5145, 5920],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5920, 6402],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6402, 9016],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9016, 9886],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9887, 10833],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10833, 11649],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11650, 14142],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14142, 14459],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14459, 14679],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1254],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1254, 5145],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5145, 6402],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6402, 14679],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150210.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
| 1 |
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|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 42 |
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| 43 |
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| 48 |
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|
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|
| 50 |
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| 51 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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|
| 57 |
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|
| 58 |
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|
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| 60 |
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| 68 |
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|
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|
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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|
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| 98 |
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| 103 |
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| 104 |
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| 105 |
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| 117 |
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| 120 |
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| 121 |
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| 122 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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| 161 |
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| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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{
|
| 201 |
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"primitive_idx": 3,
|
| 202 |
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"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150230.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 305],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1650, 3311],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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| 137 |
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"frame_duration": [9176, 11618],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_202"],
|
| 195 |
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|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
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"frame_duration": [3311, 4826],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4826, 12586],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150250.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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|
| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [3453, 5538],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7148, 9030],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [12989, 13240],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1908],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1908, 5538],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5538, 7147],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7148, 13240],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150260.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13472,
|
| 6 |
+
"valid_duration": [38, 13510]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [38, 1569],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1569, 2277],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2277, 2801],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2801, 5344],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5344, 6387],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6387, 7068],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7068, 9111],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9111, 9802],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9802, 10416],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10417, 11071],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11071, 12933],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [12933, 13176],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13177, 13510],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [38, 2277],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2277, 5344],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5344, 7068],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7068, 13510],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150270.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15420,
|
| 6 |
+
"valid_duration": [0, 15420]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 901],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1021, 1706],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1706, 3450],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3450, 5661],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5661, 6872],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6875, 7414],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7414, 10110],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10110, 10700],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10700, 11656],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11656, 12272],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12272, 14384],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_202"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14384, 14762],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14762, 15420],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1706],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1706, 5661],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5661, 7414],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7414, 15420],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150280.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7459, 14918],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150290.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13170,
|
| 6 |
+
"valid_duration": [165, 13335]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [165, 709],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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|
| 29 |
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"frame_duration": [710, 1428],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1428, 1830],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1830, 4085],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4086, 4995],
|
| 66 |
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"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4995, 5911],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5911, 8294],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [9776, 10353],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [10353, 12762],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [12762, 12977],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [12977, 13335],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [165, 1428],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [1428, 4085],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4086, 5911],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5911, 13335],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150320.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 2393],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [2393, 3278],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [3279, 4419],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [4419, 7533],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [7533, 8625],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [8625, 9198],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [9198, 10967],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [10967, 11632],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [11632, 12002],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [12002, 12524],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [12525, 14900],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14900, 15514],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [15514, 15944],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 3278],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [3279, 7533],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [7533, 9198],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [9198, 15944],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150330.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15201,
|
| 6 |
+
"valid_duration": [18, 15219]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [18, 942],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [942, 1868],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1868, 2792],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2792, 6484],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [6484, 7530],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7560, 8319],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8319, 10781],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10781, 11405],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11406, 11563],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11564, 12052],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12052, 14389],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14389, 14830],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14830, 15219],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [18, 1868],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1868, 6484],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [6484, 8319],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [8319, 15219],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150340.json
ADDED
|
@@ -0,0 +1,212 @@
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| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13703,
|
| 6 |
+
"valid_duration": [160, 13863]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [160, 362],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [363, 1071],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1071, 3231],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3231, 5206],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5206, 5982],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5982, 6741],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6741, 7914],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7914, 8884],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8885, 9804],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9804, 10994],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10994, 12403],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [12403, 13255],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13256, 13863],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [160, 1071],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1071, 5206],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5206, 6741],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6741, 13863],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150380.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
+
},
|
| 200 |
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{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [8246, 15881],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150400.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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"valid_duration": [40, 14181]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
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|
| 15 |
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"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [40, 1387],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1388, 2119],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2240, 3294],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3294, 5893],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7589, 10014],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [11691, 13527],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [13869, 14181],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [40, 2119],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [2240, 5893],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5894, 7589],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7589, 14181],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150470.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [804, 1249],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1249, 2184],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": ["door_vudhlc_1"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2244, 3072],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3072, 3846],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3846, 4166],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [4166, 5880],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [5880, 6042],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
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},
|
| 189 |
+
{
|
| 190 |
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"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_202"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [3072, 4166],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4166, 9799],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150530.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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{
|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5754, 12180],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150690.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14479,
|
| 6 |
+
"valid_duration": [60, 14539]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 1370],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1370, 2194],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2194, 3509],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3509, 4632],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4632, 5792],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5793, 6177],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6177, 8597],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8598, 9069],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9069, 10251],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10251, 10712],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10713, 13457],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [13457, 13826],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13826, 14539],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 2194],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2194, 4632],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4632, 6177],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6177, 14539],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150700.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
+
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
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|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_202"],
|
| 195 |
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|
| 196 |
+
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|
| 197 |
+
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|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4105, 10800],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150850.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
"valid_duration": [0, 11466]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [0, 1824],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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|
| 29 |
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"frame_duration": [1824, 2424],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2424, 2562],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [9294, 10509],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [2424, 3862],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
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|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3862, 5599],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5600, 11466],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150930.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [645, 1113],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1113, 1632],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [1633, 3001],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [3001, 4027],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4027, 4363],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [4364, 5612],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [5612, 6200],
|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [6200, 7062],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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|
| 140 |
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| 141 |
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|
| 142 |
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| 143 |
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| 144 |
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|
| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_201"],
|
| 195 |
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|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [3001, 4363],
|
| 198 |
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"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
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"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
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"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
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"frame_duration": [4364, 10160],
|
| 209 |
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"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150950.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
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|
| 7 |
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|
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|
| 9 |
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|
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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| 17 |
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|
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| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5008, 11178],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151020.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
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|
|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14900,
|
| 6 |
+
"valid_duration": [0, 14900]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1765],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1765, 2657],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2658, 3246],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3276, 5637],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5638, 6511],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6511, 7014],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7168, 9784],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9785, 10477],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10569, 10820],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10820, 11351],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11352, 14066],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14066, 14468],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14468, 14900],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 2657],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2658, 5637],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5638, 7014],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7168, 14900],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151050.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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"primitive_description": ["place on"],
|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7053, 13836],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151060.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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"valid_duration": [0, 15098]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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|
| 15 |
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"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [0, 1687],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1687, 2499],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3119, 5571],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [5572, 6420],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6421, 7093],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7093, 7976],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10908, 11349],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11349, 14168],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14168, 14658],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14658, 15098],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [0, 2499],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [2670, 5571],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5572, 7093],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7093, 15098],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151070.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
|
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|
|
|
|
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|
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|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 1596],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1596, 2420],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2557, 3988],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
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|
| 53 |
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"frame_duration": [3988, 6248],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [6249, 7427],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [7427, 7995],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [8007, 10022],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [10022, 10669],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [10669, 10907],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [11263, 13517],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [6249, 7995],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [8007, 14411],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151080.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6788, 8138],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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| 184 |
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|
| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5243, 6787],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6788, 13610],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151090.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14360,
|
| 6 |
+
"valid_duration": [129, 14489]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [129, 1573],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1574, 2511],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2511, 3644],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3644, 5647],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5647, 6963],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6963, 7468],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7468, 9478],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9478, 9981],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9982, 10404],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10409, 10989],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10989, 13516],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_202"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [13516, 14001],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14001, 14489],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [129, 2511],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2511, 5647],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5647, 7468],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7468, 14489],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151110.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5300, 6775],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [9175, 9642],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
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|
| 196 |
+
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|
| 197 |
+
"frame_duration": [3582, 5300],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5300, 13124],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151160.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15654,
|
| 6 |
+
"valid_duration": [79, 15733]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [79, 1683],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [1683, 2193],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [4278, 5705],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [5765, 6518],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6518, 7081],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7170, 10153],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [12499, 13231],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [13317, 14382],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14397, 15140],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [15148, 15733],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [79, 2193],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2410, 5705],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5765, 7081],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7170, 15733],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151170.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 730],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [731, 1352],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1352, 3070],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [3070, 4827],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [4827, 5850],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5850, 6450],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6450, 8508],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8508, 9032],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [10170, 12933],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [1352, 4827],
|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4827, 6450],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6450, 13712],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151180.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7146, 9100],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [9100, 9998],
|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [3081, 5677],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5677, 7146],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7146, 16289],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151190.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
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|
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|
|
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|
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|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14732,
|
| 6 |
+
"valid_duration": [247, 14979]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [247, 1034],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1043, 2151],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2151, 3067],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3186, 4480],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4521, 5273],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5273, 5988],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5988, 8853],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8853, 9815],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9815, 10492],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10493, 11386],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11387, 13651],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [13651, 14277],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14442, 14979],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [247, 2151],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2151, 4480],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4521, 5988],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5988, 14979],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151240.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
"valid_duration": [180, 16145]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
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|
| 16 |
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|
| 17 |
+
"frame_duration": [180, 2703],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [2703, 3598],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [5104, 5882],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5888, 6638],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6653, 8457],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [8457, 9447],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11043, 11940],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11940, 14661],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14661, 15187],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [15187, 16145],
|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [180, 3598],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
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|
| 186 |
+
"frame_duration": [3598, 5104],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5104, 6638],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6653, 16145],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151290.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 16119,
|
| 6 |
+
"valid_duration": [120, 16239]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [120, 1813],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
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|
| 29 |
+
"frame_duration": [1814, 2894],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2894, 4831],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [4832, 6690],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [6690, 7380],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [7380, 8094],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [8094, 10577],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [10577, 11356],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [11356, 12011],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [12011, 12632],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [12632, 14945],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14945, 15501],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [15501, 16239],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [120, 2894],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2894, 6690],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [6690, 8094],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [8094, 16239],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151300.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
"valid_duration": [121, 17216]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [121, 2102],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [2103, 3377],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3378, 3728],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3728, 5298],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5298, 6048],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
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"frame_duration": [6048, 6800],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6801, 9875],
|
| 90 |
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"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 116 |
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| 117 |
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| 118 |
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|
| 119 |
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| 120 |
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| 121 |
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| 124 |
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| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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|
| 143 |
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| 144 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
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| 159 |
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| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_201"],
|
| 195 |
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|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [5298, 6800],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
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"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
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"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6801, 17216],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151320.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [150, 2608],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2609, 5151],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5151, 6930],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6930, 16299],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151340.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 16665,
|
| 6 |
+
"valid_duration": [240, 16905]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [240, 970],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [970, 1872],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2216, 3273],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3273, 4829],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4830, 5671],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5671, 6271],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6572, 10112],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10113, 11050],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11190, 12549],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12550, 13411],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [13411, 15572],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [15572, 16107],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [16108, 16905],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [240, 1872],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2216, 4829],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4830, 6271],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6572, 16905],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151360.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
},
|
| 8 |
+
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|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
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|
| 16 |
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|
| 17 |
+
"frame_duration": [89, 2317],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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|
| 20 |
+
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
+
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6765, 9095],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10735, 11510],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11510, 12762],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [13214, 13768],
|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [89, 3132],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
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|
| 184 |
+
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|
| 185 |
+
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|
| 186 |
+
"frame_duration": [3132, 5061],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5061, 6764],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6765, 13768],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151370.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15089,
|
| 6 |
+
"valid_duration": [124, 15213]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [124, 1203],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
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"frame_duration": [1203, 2296],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [2297, 3600],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3727, 5161],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5161, 5931],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5931, 6456],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6603, 9505],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11253, 12033],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [12033, 14185],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14186, 14673],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14673, 15213],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [124, 2296],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
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|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [2297, 5161],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5161, 6456],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6603, 15213],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151380.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [127, 1558],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1618, 2489],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
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|
| 41 |
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"frame_duration": [2489, 2745],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3114, 4343],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4403, 5142],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5262, 6142],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6143, 7548],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8913, 9554],
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [9554, 10960],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [11819, 12259],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [127, 2489],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [2489, 4343],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4403, 6142],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6143, 12259],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151420.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1078, 2057],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [3117, 4632],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [4632, 5398],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5399, 6072],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6072, 8282],
|
| 90 |
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|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8282, 8940],
|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [8940, 9873],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [9873, 10681],
|
| 126 |
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|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [14013, 14558],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [159, 2057],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2057, 4632],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4632, 6072],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6072, 14558],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151500.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13950,
|
| 6 |
+
"valid_duration": [94, 14044]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [94, 871],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [901, 1545],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1802, 3270],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3271, 4508],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4508, 5299],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5299, 5778],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6013, 8101],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8102, 8795],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8796, 9663],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9664, 10354],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10561, 12471],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [12652, 13387],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13657, 14044],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [94, 1545],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1802, 4508],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4508, 5778],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6013, 14044],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151510.json
ADDED
|
@@ -0,0 +1,246 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9450,
|
| 6 |
+
"valid_duration": [0, 9450]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
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|
| 15 |
+
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|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1110],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1110, 1685],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 38 |
+
"manipulating_object_id": ["plywood_202"],
|
| 39 |
+
"memory_prefix": ["the other"],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1685, 1972],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 50 |
+
"manipulating_object_id": ["plywood_202"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1972, 2671],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [10],
|
| 60 |
+
"skill_description": ["open door"],
|
| 61 |
+
"object_id": [["door_vudhlc_1"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2671, 3513],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["plywood_202"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": ["the same"],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3513, 3845],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [2],
|
| 84 |
+
"skill_description": ["pick up from"],
|
| 85 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 86 |
+
"manipulating_object_id": ["plywood_202"],
|
| 87 |
+
"memory_prefix": ["the same"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3845, 4193],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["floors_xorxro_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4193, 4650],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [3],
|
| 108 |
+
"skill_description": ["place on"],
|
| 109 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 110 |
+
"manipulating_object_id": ["plywood_201"],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4650, 4863],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4863, 5141],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["plywood_203"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["the other"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5141, 7018],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [2],
|
| 144 |
+
"skill_description": ["pick up from"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [7018, 7314],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [1],
|
| 156 |
+
"skill_description": ["move to"],
|
| 157 |
+
"object_id": [["floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": ["back"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7314, 9092],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["navigation"]
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
+
"skill_id": [3],
|
| 168 |
+
"skill_description": ["place on"],
|
| 169 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 170 |
+
"manipulating_object_id": ["plywood_203"],
|
| 171 |
+
"memory_prefix": [],
|
| 172 |
+
"spatial_prefix": [],
|
| 173 |
+
"frame_duration": [9092, 9450],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
+
"skill_type": ["uncoordinated"]
|
| 176 |
+
}
|
| 177 |
+
],
|
| 178 |
+
"primitive_annotation": [
|
| 179 |
+
{
|
| 180 |
+
"primitive_idx": 0,
|
| 181 |
+
"primitive_id": [2],
|
| 182 |
+
"primitive_description": ["pick up from"],
|
| 183 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 184 |
+
"manipulating_object_id": ["plywood_201"],
|
| 185 |
+
"memory_prefix": [],
|
| 186 |
+
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|
| 187 |
+
"frame_duration": [0, 1685],
|
| 188 |
+
"skill_idxes": [0, 1]
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"primitive_idx": 1,
|
| 192 |
+
"primitive_id": [2, 3],
|
| 193 |
+
"primitive_description": ["pick up from", "place on"],
|
| 194 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"], ["plywood_202", "floors_qadhjb_0"]],
|
| 195 |
+
"manipulating_object_id": ["plywood_202", "plywood_202"],
|
| 196 |
+
"memory_prefix": ["the other", ""],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [1685, 2671],
|
| 199 |
+
"skill_idxes": [2, 3]
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"primitive_idx": 2,
|
| 203 |
+
"primitive_id": [10],
|
| 204 |
+
"primitive_description": ["open door"],
|
| 205 |
+
"object_id": [["door_vudhlc_1"]],
|
| 206 |
+
"manipulating_object_id": [],
|
| 207 |
+
"memory_prefix": [],
|
| 208 |
+
"spatial_prefix": [],
|
| 209 |
+
"frame_duration": [2671, 3513],
|
| 210 |
+
"skill_idxes": [4]
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"primitive_idx": 3,
|
| 214 |
+
"primitive_id": [2],
|
| 215 |
+
"primitive_description": ["pick up from"],
|
| 216 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 217 |
+
"manipulating_object_id": ["plywood_202"],
|
| 218 |
+
"memory_prefix": ["the same"],
|
| 219 |
+
"spatial_prefix": [],
|
| 220 |
+
"frame_duration": [3513, 4193],
|
| 221 |
+
"skill_idxes": [5, 6]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 4,
|
| 225 |
+
"primitive_id": [3],
|
| 226 |
+
"primitive_description": ["place on"],
|
| 227 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 228 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"]],
|
| 229 |
+
"memory_prefix": [],
|
| 230 |
+
"spatial_prefix": [],
|
| 231 |
+
"frame_duration": [4193, 5141],
|
| 232 |
+
"skill_idxes": [7, 8, 9]
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"primitive_idx": 5,
|
| 236 |
+
"primitive_id": [2, 3],
|
| 237 |
+
"primitive_description": ["pick up from", "place on"],
|
| 238 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"], ["plywood_203", "floors_xorxro_0"]],
|
| 239 |
+
"manipulating_object_id": ["plywood_203", "plywood_203"],
|
| 240 |
+
"memory_prefix": ["the other", ""],
|
| 241 |
+
"spatial_prefix": [],
|
| 242 |
+
"frame_duration": [5141, 9450],
|
| 243 |
+
"skill_idxes": [10, 11, 12, 13]
|
| 244 |
+
}
|
| 245 |
+
]
|
| 246 |
+
}
|
annotations/task-0015/episode_00151530.json
ADDED
|
@@ -0,0 +1,235 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
+
{
|
| 10 |
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|
| 11 |
+
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|
| 12 |
+
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
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|
| 28 |
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|
| 29 |
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|
| 30 |
+
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|
| 31 |
+
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|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 38 |
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"manipulating_object_id": ["plywood_203"],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [2447, 3124],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 50 |
+
"manipulating_object_id": ["plywood_203"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [3124, 3757],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["door_vudhlc_1"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [10],
|
| 72 |
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"skill_description": ["open door"],
|
| 73 |
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"object_id": [["door_vudhlc_1"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4176, 5550],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5818, 6841],
|
| 90 |
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|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["place on"],
|
| 97 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [6841, 7289],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [7289, 8352],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [8352, 8835],
|
| 126 |
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|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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|
| 132 |
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"skill_description": ["pick up from"],
|
| 133 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 134 |
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"manipulating_object_id": ["plywood_201"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [8835, 9168],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
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"memory_prefix": ["back"],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [9168, 9973],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["navigation"]
|
| 152 |
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|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [9973, 10284],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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},
|
| 165 |
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{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
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"skill_id": [3],
|
| 168 |
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"skill_description": ["place on"],
|
| 169 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 170 |
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"manipulating_object_id": ["plywood_201"],
|
| 171 |
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|
| 172 |
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|
| 173 |
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"frame_duration": [10284, 10628],
|
| 174 |
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|
| 175 |
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"skill_type": ["uncoordinated"]
|
| 176 |
+
}
|
| 177 |
+
],
|
| 178 |
+
"primitive_annotation": [
|
| 179 |
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{
|
| 180 |
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"primitive_idx": 0,
|
| 181 |
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|
| 182 |
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"primitive_description": ["pick up from"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
+
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|
| 190 |
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{
|
| 191 |
+
"primitive_idx": 1,
|
| 192 |
+
"primitive_id": [2, 3],
|
| 193 |
+
"primitive_description": ["pick up from", "place on"],
|
| 194 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"], ["plywood_203", "floors_qadhjb_0"]],
|
| 195 |
+
"manipulating_object_id": ["plywood_203", "plywood_203"],
|
| 196 |
+
"memory_prefix": ["the other", ""],
|
| 197 |
+
"spatial_prefix": [],
|
| 198 |
+
"frame_duration": [2447, 3757],
|
| 199 |
+
"skill_idxes": [2, 3]
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"primitive_idx": 2,
|
| 203 |
+
"primitive_id": [10],
|
| 204 |
+
"primitive_description": ["open door"],
|
| 205 |
+
"object_id": [["door_vudhlc_1"]],
|
| 206 |
+
"manipulating_object_id": [],
|
| 207 |
+
"memory_prefix": [],
|
| 208 |
+
"spatial_prefix": [],
|
| 209 |
+
"frame_duration": [3757, 5550],
|
| 210 |
+
"skill_idxes": [4, 5]
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"primitive_idx": 3,
|
| 214 |
+
"primitive_id": [3],
|
| 215 |
+
"primitive_description": ["place on"],
|
| 216 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 217 |
+
"manipulating_object_id": ["plywood_202"],
|
| 218 |
+
"memory_prefix": [],
|
| 219 |
+
"spatial_prefix": [],
|
| 220 |
+
"frame_duration": [5818, 7289],
|
| 221 |
+
"skill_idxes": [6, 7]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 4,
|
| 225 |
+
"primitive_id": [2, 3],
|
| 226 |
+
"primitive_description": ["pick up from", "place on"],
|
| 227 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 228 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 229 |
+
"memory_prefix": ["the other", ""],
|
| 230 |
+
"spatial_prefix": [],
|
| 231 |
+
"frame_duration": [7289, 10628],
|
| 232 |
+
"skill_idxes": [8, 9, 10, 11, 12, 13]
|
| 233 |
+
}
|
| 234 |
+
]
|
| 235 |
+
}
|
annotations/task-0015/episode_00151560.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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| 1 |
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{
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| 2 |
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"task_name": "bringing in wood",
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 27 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 39 |
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| 40 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 48 |
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| 49 |
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| 50 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 61 |
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| 69 |
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| 70 |
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| 72 |
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| 80 |
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| 81 |
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| 82 |
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| 92 |
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| 93 |
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| 94 |
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| 96 |
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| 97 |
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| 104 |
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| 105 |
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| 109 |
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| 110 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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|
| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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|
| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 199 |
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| 200 |
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| 201 |
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| 202 |
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|
| 203 |
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| 204 |
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| 205 |
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| 206 |
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| 208 |
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| 209 |
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|
| 210 |
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| 211 |
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]
|
| 212 |
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}
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