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- annotations/task-0016/episode_00160040.json +165 -0
- annotations/task-0016/episode_00160430.json +165 -0
- annotations/task-0016/episode_00160640.json +165 -0
- annotations/task-0016/episode_00160750.json +165 -0
- annotations/task-0016/episode_00161050.json +165 -0
- annotations/task-0016/episode_00161230.json +165 -0
- annotations/task-0016/episode_00161590.json +165 -0
- annotations/task-0016/episode_00161930.json +165 -0
- annotations/task-0016/episode_00162190.json +165 -0
- annotations/task-0016/episode_00162220.json +165 -0
- annotations/task-0016/episode_00162300.json +165 -0
- annotations/task-0016/episode_00162330.json +165 -0
- annotations/task-0016/episode_00162360.json +165 -0
- annotations/task-0016/episode_00162430.json +165 -0
- annotations/task-0030/episode_00300010.json +304 -0
- annotations/task-0030/episode_00300020.json +304 -0
- annotations/task-0030/episode_00300030.json +304 -0
- annotations/task-0030/episode_00300040.json +304 -0
- annotations/task-0030/episode_00300050.json +304 -0
- annotations/task-0030/episode_00300070.json +304 -0
- annotations/task-0030/episode_00300090.json +304 -0
- annotations/task-0030/episode_00300100.json +304 -0
- annotations/task-0030/episode_00300110.json +304 -0
- annotations/task-0030/episode_00300120.json +304 -0
- annotations/task-0030/episode_00300130.json +304 -0
- annotations/task-0030/episode_00300140.json +304 -0
- annotations/task-0030/episode_00300150.json +304 -0
- annotations/task-0030/episode_00300160.json +304 -0
- annotations/task-0030/episode_00300170.json +304 -0
- annotations/task-0030/episode_00300180.json +304 -0
- annotations/task-0030/episode_00300190.json +304 -0
- annotations/task-0030/episode_00300200.json +304 -0
- annotations/task-0030/episode_00300210.json +304 -0
- annotations/task-0030/episode_00300220.json +304 -0
- annotations/task-0030/episode_00300230.json +304 -0
- annotations/task-0030/episode_00300240.json +304 -0
- annotations/task-0030/episode_00300250.json +304 -0
- annotations/task-0030/episode_00300260.json +304 -0
- annotations/task-0030/episode_00300280.json +304 -0
- annotations/task-0030/episode_00300300.json +304 -0
- annotations/task-0030/episode_00300310.json +292 -0
- annotations/task-0030/episode_00300320.json +304 -0
- annotations/task-0030/episode_00300340.json +304 -0
- annotations/task-0030/episode_00300350.json +304 -0
- annotations/task-0030/episode_00300360.json +304 -0
- annotations/task-0030/episode_00300400.json +304 -0
- annotations/task-0030/episode_00300410.json +304 -0
- annotations/task-0030/episode_00300440.json +304 -0
- annotations/task-0030/episode_00300500.json +304 -0
- annotations/task-0030/episode_00300510.json +304 -0
annotations/task-0016/episode_00160040.json
ADDED
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@@ -0,0 +1,165 @@
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| 1 |
+
{
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| 2 |
+
"task_name": "moving boxes to storage",
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| 3 |
+
"data_folder": "",
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| 4 |
+
"meta_data": {
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| 5 |
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"task_duration": 12773,
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| 6 |
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"valid_duration": [187, 12960]
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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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| 10 |
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| 11 |
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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| 15 |
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| 27 |
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| 55 |
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| 58 |
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| 60 |
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| 61 |
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| 62 |
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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"],
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| 85 |
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| 86 |
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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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| 96 |
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| 102 |
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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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| 120 |
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"skill_description": ["place on"],
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| 121 |
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| 124 |
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| 125 |
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"frame_duration": [12610, 12960],
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| 126 |
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"mp_ef": [],
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| 127 |
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"skill_type": ["coordinated"]
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| 128 |
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| 129 |
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| 130 |
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"primitive_annotation": [
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| 131 |
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{
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| 132 |
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"primitive_idx": 0,
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| 133 |
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"primitive_id": [10],
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| 134 |
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"primitive_description": ["open door"],
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| 135 |
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"object_id": [["door_bexenl_0"]],
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| 136 |
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"manipulating_object_id": [],
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| 137 |
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"memory_prefix": [],
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| 138 |
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"spatial_prefix": [],
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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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"primitive_idx": 1,
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| 144 |
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"primitive_id": [2, 3],
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| 145 |
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"primitive_description": ["pick up from", "place on"],
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| 146 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
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| 147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
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| 148 |
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"memory_prefix": [],
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| 149 |
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"spatial_prefix": [],
|
| 150 |
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"frame_duration": [1453, 7298],
|
| 151 |
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"skill_idxes": [2, 3, 4, 5]
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| 152 |
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},
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| 153 |
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{
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| 154 |
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"primitive_idx": 2,
|
| 155 |
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"primitive_id": [2, 3],
|
| 156 |
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"primitive_description": ["pick up from", "place on"],
|
| 157 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
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"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
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"memory_prefix": ["the other", ""],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [7361, 12960],
|
| 162 |
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"skill_idxes": [6, 7, 8, 9]
|
| 163 |
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}
|
| 164 |
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]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160430.json
ADDED
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@@ -0,0 +1,165 @@
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| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 16539,
|
| 6 |
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"valid_duration": [0, 16539]
|
| 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": [["door_bexenl_0"]],
|
| 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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| 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 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1143, 2073],
|
| 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": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2073, 3576],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3594, 4981],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4981, 7590],
|
| 66 |
+
"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": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7590, 8619],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8700, 11133],
|
| 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": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [11133, 12519],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [12519, 15159],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [15160, 16539],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2073],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [2073, 8619],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8700, 16539],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160640.json
ADDED
|
@@ -0,0 +1,165 @@
|
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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": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14313,
|
| 6 |
+
"valid_duration": [0, 14313]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 413],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [414, 1258],
|
| 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": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1258, 2878],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2878, 4128],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4128, 6284],
|
| 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": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6284, 7428],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7428, 9532],
|
| 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": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9532, 10896],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10896, 13228],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13228, 14313],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1258],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1258, 7428],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7428, 14313],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00160750.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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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": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15402,
|
| 6 |
+
"valid_duration": [60, 15462]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 885],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [945, 1561],
|
| 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": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1561, 3003],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3003, 4156],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4156, 6322],
|
| 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": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6325, 7350],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7350, 9719],
|
| 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": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9719, 11312],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11312, 13693],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13708, 15462],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [60, 1561],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1561, 7350],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7350, 15462],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00161050.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14402,
|
| 6 |
+
"valid_duration": [0, 14402]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1026],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1026, 1472],
|
| 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": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1472, 2809],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3185, 4327],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4328, 6228],
|
| 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": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6228, 7335],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7466, 9545],
|
| 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": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9575, 11082],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11082, 13156],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13156, 14402],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1472],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1472, 7335],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7466, 14402],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00161230.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13529,
|
| 6 |
+
"valid_duration": [111, 13640]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [111, 508],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [508, 1422],
|
| 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": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1603, 3001],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3013, 4050],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4050, 5854],
|
| 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": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5854, 6679],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6679, 8954],
|
| 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": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8954, 9952],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9952, 12456],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12456, 13640],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [111, 1422],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1603, 6679],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6679, 13640],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00161590.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14790,
|
| 6 |
+
"valid_duration": [0, 14790]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 466],
|
| 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": [10],
|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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"object_id": [["door_bexenl_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [466, 848],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["storage_box_80"]],
|
| 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": [848, 2306],
|
| 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 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_80"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2336, 3649],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 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": [["floors_nbxnpk_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": [3650, 5683],
|
| 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 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
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"manipulating_object_id": ["storage_box_80"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5692, 7129],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["storage_box_79"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7163, 9333],
|
| 90 |
+
"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": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9333, 11153],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11205, 13503],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13503, 14790],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 848],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [848, 7129],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7163, 14790],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00161930.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13065,
|
| 6 |
+
"valid_duration": [45, 13110]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [45, 355],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [356, 987],
|
| 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": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [987, 2736],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2767, 3368],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3368, 6176],
|
| 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": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6177, 6571],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6572, 9307],
|
| 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": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9322, 9870],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9870, 12660],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12660, 13110],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [45, 987],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [987, 6571],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6572, 13110],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00162190.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12903,
|
| 6 |
+
"valid_duration": [0, 12903]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 346],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [346, 788],
|
| 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": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [794, 2427],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2461, 3796],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3796, 5637],
|
| 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": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5637, 6634],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6681, 8878],
|
| 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": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8878, 9884],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9884, 12000],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12000, 12903],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 788],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [794, 6634],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6681, 12903],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00162220.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14709,
|
| 6 |
+
"valid_duration": [18, 14727]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [18, 769],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [770, 1297],
|
| 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": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1297, 2692],
|
| 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": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
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"manipulating_object_id": ["storage_box_80"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2710, 4028],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_nbxnpk_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": [4028, 6497],
|
| 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 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6497, 7282],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
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"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7426, 9580],
|
| 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 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9580, 11257],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11403, 13555],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [13555, 14727],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [18, 1297],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1297, 7282],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7426, 14727],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00162300.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13778,
|
| 6 |
+
"valid_duration": [0, 13778]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
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|
| 17 |
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"frame_duration": [0, 687],
|
| 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": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
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|
| 28 |
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|
| 29 |
+
"frame_duration": [688, 1140],
|
| 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": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1141, 2632],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2632, 4058],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4065, 5831],
|
| 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": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5832, 6967],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6968, 9112],
|
| 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": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9112, 10491],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10491, 12656],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12657, 13778],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
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"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1140],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1141, 6967],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6968, 13778],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00162330.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13491,
|
| 6 |
+
"valid_duration": [0, 13491]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 308],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [308, 725],
|
| 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": [["storage_box_79"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [725, 2283],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2283, 3399],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3400, 5466],
|
| 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": [["storage_box_79", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5466, 6317],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_80"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6317, 8716],
|
| 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": [["storage_box_80", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8716, 9866],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_79"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9866, 12185],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12245, 13491],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 725],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [725, 6317],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6317, 13491],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00162360.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13527,
|
| 6 |
+
"valid_duration": [0, 13527]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 250],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [250, 734],
|
| 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": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [735, 2160],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2161, 3219],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3220, 5209],
|
| 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": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5209, 6486],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6486, 8708],
|
| 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": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8708, 10076],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10076, 12121],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12122, 13527],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 734],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [735, 6486],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6486, 13527],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0016/episode_00162430.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13516,
|
| 6 |
+
"valid_duration": [30, 13546]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["door_bexenl_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 773],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["door_bexenl_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [773, 1328],
|
| 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": [["storage_box_80"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1328, 2588],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
| 50 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2589, 3748],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_nbxnpk_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3749, 5496],
|
| 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": [["storage_box_80", "floors_nbxnpk_0"]],
|
| 74 |
+
"manipulating_object_id": ["storage_box_80"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5497, 6580],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["coordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["storage_box_79"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6591, 8505],
|
| 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": [["storage_box_79", "floors_ulujpr_0"]],
|
| 98 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8506, 9901],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["coordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["storage_box_80"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9901, 12109],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [3],
|
| 120 |
+
"skill_description": ["place on"],
|
| 121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
| 122 |
+
"manipulating_object_id": ["storage_box_79"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [12109, 13546],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["coordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["door_bexenl_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [30, 1328],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
| 147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [],
|
| 150 |
+
"frame_duration": [1328, 6580],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [2, 3],
|
| 156 |
+
"primitive_description": ["pick up from", "place on"],
|
| 157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
| 158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
| 159 |
+
"memory_prefix": ["the other", ""],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6591, 13546],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0030/episode_00300010.json
ADDED
|
@@ -0,0 +1,304 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
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| 2 |
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| 3 |
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| 9 |
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| 200 |
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| 278 |
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"frame_duration": [8617, 8874],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [8875, 9299],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [9419, 9658],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300020.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9626,
|
| 6 |
+
"valid_duration": [23, 9649]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [23, 432],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [442, 2411],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2472, 2889],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_76"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2895, 3483],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_76"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3520, 3961],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4067, 4383],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4389, 5079],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_76"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5112, 5639],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5650, 6897],
|
| 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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
+
"manipulating_object_id": ["lighter_73"],
|
| 123 |
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"memory_prefix": [],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [6897, 7386],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
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|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [7514, 7711],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_75"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [7749, 7914],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_75"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7924, 8202],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
+
"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
+
"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
+
"spatial_prefix": [],
|
| 173 |
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"frame_duration": [8263, 8657],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
+
"skill_type": ["navigation"]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
+
"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 181 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
+
"memory_prefix": [],
|
| 184 |
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|
| 185 |
+
"frame_duration": [8679, 8842],
|
| 186 |
+
"mp_ef": [],
|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_75"],
|
| 195 |
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|
| 196 |
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|
| 197 |
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"frame_duration": [8913, 9336],
|
| 198 |
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"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
+
},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
+
"skill_description": ["turn off switch"],
|
| 205 |
+
"object_id": [["lighter_73"]],
|
| 206 |
+
"manipulating_object_id": ["lighter_73"],
|
| 207 |
+
"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
+
"frame_duration": [9448, 9649],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
+
"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
+
"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
+
"spatial_prefix": [],
|
| 223 |
+
"frame_duration": [23, 5079],
|
| 224 |
+
"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [2895, 5639],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
+
"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
+
"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [5650, 7386],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [7514, 7711],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [7749, 8202],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [8263, 8842],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [8913, 9336],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [9448, 9649],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300030.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
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|
|
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|
|
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|
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|
|
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|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8732,
|
| 6 |
+
"valid_duration": [21, 8753]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [21, 447],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [449, 2398],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2431, 2778],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_76"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2778, 3140],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_76"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3140, 3520],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3520, 4337],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4337, 4786],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_76"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4816, 5181],
|
| 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": [["lighter_73"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5219, 5638],
|
| 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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
+
"manipulating_object_id": ["lighter_73"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [5670, 6301],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
+
"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
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|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6457, 6663],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_75"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [6681, 6915],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_75"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6919, 7343],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
+
"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
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"spatial_prefix": [],
|
| 173 |
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"frame_duration": [7343, 7792],
|
| 174 |
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"mp_ef": [],
|
| 175 |
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"skill_type": ["navigation"]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
+
"skill_id": [88],
|
| 180 |
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"skill_description": ["ignite"],
|
| 181 |
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"object_id": [["lighter_73", "firewood_75"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [7822, 7954],
|
| 186 |
+
"mp_ef": [],
|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_75"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [7956, 8364],
|
| 198 |
+
"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
+
{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
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"frame_duration": [8483, 8753],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
+
"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [21, 4786],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [2778, 5181],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
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"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [5219, 6301],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [6457, 6663],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [6681, 7343],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [7343, 7954],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [7956, 8364],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [8483, 8753],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300040.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
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|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7807,
|
| 6 |
+
"valid_duration": [39, 7846]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [39, 222],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [239, 1190],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1220, 1515],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1515, 1788],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_75"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1791, 2165],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2189, 2550],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2571, 3189],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_75"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3273, 3675],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [3728, 4518],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [4545, 5194],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
+
"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
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|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5304, 5635],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_76"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
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"frame_duration": [5674, 6006],
|
| 150 |
+
"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 |
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"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_76"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [6012, 6300],
|
| 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 |
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"skill_idx": 13,
|
| 167 |
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"skill_id": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 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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"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
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|
| 181 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [6737, 6855],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
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"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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|
| 208 |
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|
| 209 |
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"frame_duration": [7490, 7846],
|
| 210 |
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"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
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}
|
| 213 |
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],
|
| 214 |
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"primitive_annotation": [
|
| 215 |
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{
|
| 216 |
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"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [39, 3189],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
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|
| 226 |
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{
|
| 227 |
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"primitive_idx": 1,
|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [1515, 3675],
|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
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"manipulating_object_id": ["lighter_73"],
|
| 243 |
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|
| 244 |
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"spatial_prefix": [],
|
| 245 |
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"frame_duration": [3728, 5194],
|
| 246 |
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"skill_idxes": [8, 9]
|
| 247 |
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},
|
| 248 |
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{
|
| 249 |
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"primitive_idx": 3,
|
| 250 |
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"primitive_id": [69],
|
| 251 |
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"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
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"manipulating_object_id": ["lighter_73"],
|
| 254 |
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"memory_prefix": [],
|
| 255 |
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"spatial_prefix": [],
|
| 256 |
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"frame_duration": [5304, 5635],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
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{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
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"memory_prefix": ["the other"],
|
| 266 |
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"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [5674, 6300],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
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"manipulating_object_id": ["lighter_73"],
|
| 276 |
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|
| 277 |
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|
| 278 |
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"frame_duration": [6310, 6855],
|
| 279 |
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"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
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"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [6869, 7311],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [7490, 7846],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300050.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6971,
|
| 6 |
+
"valid_duration": [0, 6971]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 190],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [206, 799],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [910, 1192],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 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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"manipulating_object_id": ["firewood_75"],
|
| 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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"skill_description": ["move to"],
|
| 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": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 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 |
+
"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
+
"frame_duration": [3083, 3422],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["lighter_73"]],
|
| 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": [3429, 4092],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
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|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [4129, 4565],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
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"manipulating_object_id": ["lighter_73"],
|
| 135 |
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|
| 136 |
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"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [4812, 5024],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
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},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_76"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
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"memory_prefix": ["the other"],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [5080, 5277],
|
| 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 |
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"skill_id": [2],
|
| 156 |
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"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_76"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [5383, 5586],
|
| 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": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 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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"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
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"skill_description": ["ignite"],
|
| 181 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [6018, 6153],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 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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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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|
| 208 |
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|
| 209 |
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"frame_duration": [6774, 6971],
|
| 210 |
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"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [0, 3027],
|
| 224 |
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|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
+
"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [1199, 3422],
|
| 235 |
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|
| 236 |
+
},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
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|
| 244 |
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|
| 245 |
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"frame_duration": [3429, 4565],
|
| 246 |
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"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
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|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [4812, 5024],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
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|
| 267 |
+
"frame_duration": [5080, 5586],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [5803, 6153],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [6230, 6703],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [6774, 6971],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300070.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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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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|
| 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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| 43 |
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|
| 44 |
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| 45 |
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| 46 |
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| 55 |
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| 56 |
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|
| 57 |
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| 58 |
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|
| 60 |
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|
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|
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| 64 |
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| 65 |
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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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| 80 |
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| 83 |
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| 85 |
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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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{
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| 106 |
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|
| 107 |
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| 108 |
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|
| 109 |
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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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| 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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| 135 |
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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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| 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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| 198 |
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| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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| 207 |
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| 208 |
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| 209 |
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| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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{
|
| 216 |
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|
| 217 |
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|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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{
|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
+
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|
| 259 |
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{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
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"primitive_id": [2],
|
| 262 |
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"primitive_description": ["pick up from"],
|
| 263 |
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|
| 264 |
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"manipulating_object_id": ["firewood_75"],
|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
+
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|
| 270 |
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{
|
| 271 |
+
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|
| 272 |
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"primitive_id": [88],
|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
+
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|
| 281 |
+
{
|
| 282 |
+
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|
| 283 |
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"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
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|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
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|
| 288 |
+
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|
| 289 |
+
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|
| 290 |
+
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|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [10731, 11100],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300090.json
ADDED
|
@@ -0,0 +1,304 @@
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| 1 |
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| 2 |
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| 3 |
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| 9 |
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| 12 |
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| 300 |
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"frame_duration": [7158, 7722],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300100.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9679,
|
| 6 |
+
"valid_duration": [0, 9679]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 805],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"skill_id": [90],
|
| 24 |
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"skill_description": ["push to"],
|
| 25 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
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"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [806, 2601],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
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"manipulating_object_id": ["newspaper_74"],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2679, 3378],
|
| 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 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [1],
|
| 48 |
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"skill_description": ["move to"],
|
| 49 |
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"object_id": [["firewood_76"]],
|
| 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": [3379, 3690],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 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": [2],
|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_76"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3691, 4320],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [4320, 4466],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [4],
|
| 84 |
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"skill_description": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
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"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4495, 5010],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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"manipulating_object_id": ["firewood_76"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [5068, 5466],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"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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"object_id": [["lighter_73"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [5533, 6056],
|
| 114 |
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|
| 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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [6059, 6466],
|
| 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": [69],
|
| 132 |
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"skill_description": ["turn on switch"],
|
| 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": [6616, 7048],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [1],
|
| 144 |
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"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_75"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
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"memory_prefix": ["the other"],
|
| 148 |
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|
| 149 |
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"frame_duration": [7048, 7631],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_75"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
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|
| 161 |
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"frame_duration": [7645, 8019],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
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{
|
| 166 |
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"skill_idx": 13,
|
| 167 |
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"skill_id": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
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|
| 173 |
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"frame_duration": [8022, 8670],
|
| 174 |
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"mp_ef": [],
|
| 175 |
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"skill_type": ["navigation"]
|
| 176 |
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},
|
| 177 |
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{
|
| 178 |
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"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 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 |
+
},
|
| 189 |
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{
|
| 190 |
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"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_75"],
|
| 195 |
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|
| 196 |
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|
| 197 |
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"frame_duration": [8887, 9349],
|
| 198 |
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"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
+
},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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|
| 208 |
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|
| 209 |
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"frame_duration": [9407, 9679],
|
| 210 |
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"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
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"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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|
| 223 |
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"frame_duration": [0, 5010],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
+
},
|
| 226 |
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{
|
| 227 |
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"primitive_idx": 1,
|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [3379, 5466],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
+
},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
+
"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
+
"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [5533, 6466],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [6616, 7048],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [7048, 8019],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [8022, 8887],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [8887, 9349],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [9407, 9679],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300110.json
ADDED
|
@@ -0,0 +1,304 @@
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9129,
|
| 6 |
+
"valid_duration": [30, 9159]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 531],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [531, 1135],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1135, 1358],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1358, 1572],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_75"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [1572, 2242],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2242, 2674],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2674, 3278],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_75"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3278, 3615],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [3615, 5266],
|
| 114 |
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"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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
+
"manipulating_object_id": ["lighter_73"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [5266, 6168],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
+
"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
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|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6658, 6894],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_76"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [6894, 7298],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_76"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7298, 7835],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
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{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
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"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
+
"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
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"spatial_prefix": [],
|
| 173 |
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"frame_duration": [7835, 8112],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
+
"skill_type": ["navigation"]
|
| 176 |
+
},
|
| 177 |
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{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 181 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
+
"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [8112, 8267],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [8267, 8688],
|
| 198 |
+
"mp_ef": [],
|
| 199 |
+
"skill_type": ["uncoordinated"]
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
+
"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
+
"manipulating_object_id": ["lighter_73"],
|
| 207 |
+
"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
+
"frame_duration": [8688, 9159],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [30, 3278],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
+
},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [1358, 3615],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
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"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [3615, 6168],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [6658, 6894],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [6894, 7835],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [7835, 8267],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [8267, 8688],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [8688, 9159],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300120.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8331,
|
| 6 |
+
"valid_duration": [0, 8331]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 453],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [457, 1770],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1785, 2169],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2170, 2520],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_75"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2520, 3000],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3001, 3258],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3259, 3825],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_75"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3826, 4207],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["lighter_73"]],
|
| 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": [4209, 4770],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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"memory_prefix": [],
|
| 124 |
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|
| 125 |
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"frame_duration": [4770, 5404],
|
| 126 |
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|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
+
"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [5524, 5850],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_76"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5850, 6081],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_76"],
|
| 159 |
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"memory_prefix": ["the other"],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [6180, 6630],
|
| 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 |
+
"skill_id": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
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"spatial_prefix": [],
|
| 173 |
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"frame_duration": [6630, 7151],
|
| 174 |
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"mp_ef": [],
|
| 175 |
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"skill_type": ["navigation"]
|
| 176 |
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|
| 177 |
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{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
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"skill_description": ["ignite"],
|
| 181 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [7181, 7368],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 195 |
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|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [7428, 7955],
|
| 198 |
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"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
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"frame_duration": [8010, 8331],
|
| 210 |
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"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
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}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
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{
|
| 216 |
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"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [0, 3825],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
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"primitive_idx": 1,
|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [2170, 4207],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
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"manipulating_object_id": ["lighter_73"],
|
| 243 |
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"memory_prefix": [],
|
| 244 |
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"spatial_prefix": [],
|
| 245 |
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"frame_duration": [4209, 5404],
|
| 246 |
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"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [5524, 5850],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [5850, 6630],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [6630, 7368],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [7428, 7955],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [8010, 8331],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300130.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
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|
|
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|
|
|
|
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|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10584,
|
| 6 |
+
"valid_duration": [84, 10668]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [84, 270],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [354, 2101],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2334, 2793],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2858, 3245],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_75"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3334, 3723],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 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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"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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"object_id": [["lighter_73"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [5091, 6996],
|
| 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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|
| 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 |
+
"skill_idx": 10,
|
| 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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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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"primitive_annotation": [
|
| 215 |
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{
|
| 216 |
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|
| 217 |
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|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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|
| 220 |
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| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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{
|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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{
|
| 260 |
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"primitive_idx": 4,
|
| 261 |
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"primitive_id": [2],
|
| 262 |
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"primitive_description": ["pick up from"],
|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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{
|
| 271 |
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|
| 272 |
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"primitive_id": [88],
|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
+
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|
| 281 |
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{
|
| 282 |
+
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
+
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|
| 289 |
+
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|
| 290 |
+
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|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
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|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [10481, 10668],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300140.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11266,
|
| 6 |
+
"valid_duration": [0, 11266]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 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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"skill_description": ["pick up from"],
|
| 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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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["lighter_73"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [7305, 7740],
|
| 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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|
| 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 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [69],
|
| 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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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 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": ["move to"],
|
| 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": ["pick up from"],
|
| 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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"skill_idx": 13,
|
| 167 |
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|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 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 |
+
"skill_idx": 15,
|
| 191 |
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|
| 192 |
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"skill_description": ["place in"],
|
| 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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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
+
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|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
+
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|
| 239 |
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"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
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|
| 243 |
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|
| 244 |
+
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|
| 245 |
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|
| 246 |
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|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
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|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
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|
| 255 |
+
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|
| 256 |
+
"frame_duration": [8374, 8643],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
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|
| 267 |
+
"frame_duration": [8643, 9724],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [9724, 10114],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [10114, 10953],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [10953, 11266],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300150.json
ADDED
|
@@ -0,0 +1,304 @@
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|
| 1 |
+
{
|
| 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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|
| 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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| 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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|
| 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 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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{
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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{
|
| 216 |
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|
| 217 |
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|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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{
|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
+
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|
| 239 |
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|
| 240 |
+
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
+
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|
| 248 |
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{
|
| 249 |
+
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|
| 250 |
+
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
+
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|
| 256 |
+
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|
| 257 |
+
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|
| 258 |
+
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|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
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|
| 266 |
+
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|
| 267 |
+
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|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
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|
| 274 |
+
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|
| 275 |
+
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|
| 276 |
+
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|
| 277 |
+
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|
| 278 |
+
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|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
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|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
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|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
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|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
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|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [9666, 9898],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300160.json
ADDED
|
@@ -0,0 +1,304 @@
|
|
|
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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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|
| 9 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 23 |
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| 24 |
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| 28 |
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| 32 |
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| 44 |
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| 80 |
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| 115 |
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| 116 |
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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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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 137 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 152 |
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| 163 |
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| 164 |
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| 176 |
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| 177 |
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| 188 |
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| 189 |
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| 192 |
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| 193 |
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| 194 |
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| 200 |
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| 212 |
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| 225 |
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| 234 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [7806, 8328],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [8411, 9120],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [9137, 9729],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [9864, 10134],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300170.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
|
|
|
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|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8928,
|
| 6 |
+
"valid_duration": [137, 9065]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [137, 609],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [609, 1530],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1686, 2034],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2034, 2640],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_75"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2760, 3222],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3222, 3420],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3420, 4140],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_75"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4140, 4440],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4500, 5104],
|
| 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": [["lighter_73", "floors_ulujpr_0"]],
|
| 122 |
+
"manipulating_object_id": ["lighter_73"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5700, 6030],
|
| 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": [["firewood_76"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["the other"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
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"frame_duration": [6030, 6840],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [69],
|
| 144 |
+
"skill_description": ["turn on switch"],
|
| 145 |
+
"object_id": [["lighter_73"]],
|
| 146 |
+
"manipulating_object_id": ["lighter_73"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [6840, 7020],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["coordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_76"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7200, 7440],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
+
"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
+
"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
"manipulating_object_id": [],
|
| 171 |
+
"memory_prefix": ["back"],
|
| 172 |
+
"spatial_prefix": [],
|
| 173 |
+
"frame_duration": [7440, 8160],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
+
"skill_type": ["navigation"]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
+
"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 181 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
+
"manipulating_object_id": ["lighter_73"],
|
| 183 |
+
"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [8160, 8340],
|
| 186 |
+
"mp_ef": [],
|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
+
"manipulating_object_id": ["firewood_76"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [8340, 8820],
|
| 198 |
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"mp_ef": [],
|
| 199 |
+
"skill_type": ["uncoordinated"]
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
+
"skill_description": ["turn off switch"],
|
| 205 |
+
"object_id": [["lighter_73"]],
|
| 206 |
+
"manipulating_object_id": ["lighter_73"],
|
| 207 |
+
"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
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"frame_duration": [8880, 9065],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [137, 4140],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
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"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [2034, 4440],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "floors_ulujpr_0"]],
|
| 242 |
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"manipulating_object_id": ["lighter_73"],
|
| 243 |
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"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
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"frame_duration": [4500, 6030],
|
| 246 |
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"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [6840, 7020],
|
| 257 |
+
"skill_idxes": [11]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [6030, 7440],
|
| 268 |
+
"skill_idxes": [10, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [7440, 8340],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [8340, 8820],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [8880, 9065],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300180.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13158,
|
| 6 |
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"valid_duration": [117, 13275]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [117, 668],
|
| 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": [90],
|
| 24 |
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"skill_description": ["push to"],
|
| 25 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
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"manipulating_object_id": ["newspaper_74"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
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"frame_duration": [671, 2088],
|
| 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": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
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"manipulating_object_id": ["newspaper_74"],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2615, 3177],
|
| 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 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [1],
|
| 48 |
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"skill_description": ["move to"],
|
| 49 |
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"object_id": [["firewood_75"]],
|
| 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": [3178, 3531],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 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": [2],
|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_75"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3537, 4485],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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|
| 77 |
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"frame_duration": [4809, 5004],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
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"manipulating_object_id": ["newspaper_74"],
|
| 87 |
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"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5034, 6111],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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"manipulating_object_id": ["firewood_75"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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|
| 101 |
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"frame_duration": [6136, 6675],
|
| 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 |
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"object_id": [["lighter_73"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [6988, 8541],
|
| 114 |
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|
| 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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8548, 9705],
|
| 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": [69],
|
| 132 |
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"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [9908, 10206],
|
| 138 |
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|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [1],
|
| 144 |
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"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_76"]],
|
| 146 |
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|
| 147 |
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"memory_prefix": ["the other"],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [10217, 10569],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
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},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_76"],
|
| 159 |
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"memory_prefix": ["the other"],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [10645, 11145],
|
| 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": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
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|
| 173 |
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"frame_duration": [11303, 11646],
|
| 174 |
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"mp_ef": [],
|
| 175 |
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"skill_type": ["navigation"]
|
| 176 |
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|
| 177 |
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{
|
| 178 |
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"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
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"skill_description": ["ignite"],
|
| 181 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [11681, 11826],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 195 |
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|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [11826, 12699],
|
| 198 |
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"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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|
| 208 |
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"spatial_prefix": [],
|
| 209 |
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"frame_duration": [12974, 13275],
|
| 210 |
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"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
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}
|
| 213 |
+
],
|
| 214 |
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"primitive_annotation": [
|
| 215 |
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{
|
| 216 |
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"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [117, 6111],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
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|
| 226 |
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{
|
| 227 |
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"primitive_idx": 1,
|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [3178, 6675],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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|
| 237 |
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{
|
| 238 |
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"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
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"manipulating_object_id": ["lighter_73"],
|
| 243 |
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"memory_prefix": [],
|
| 244 |
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"spatial_prefix": [],
|
| 245 |
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"frame_duration": [6988, 9705],
|
| 246 |
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"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
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{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
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"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [9908, 10206],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [10217, 11145],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
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"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [11303, 11826],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [11826, 12699],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [12974, 13275],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300190.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10605,
|
| 6 |
+
"valid_duration": [130, 10735]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [130, 607],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [623, 2119],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
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"manipulating_object_id": ["newspaper_74"],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2310, 2460],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 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": [2467, 2742],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_75"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2762, 3327],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [3405, 3799],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
+
"frame_duration": [4495, 4737],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
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|
| 112 |
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"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5039, 5833],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
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|
| 117 |
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{
|
| 118 |
+
"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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [6645, 7638],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
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"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
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"manipulating_object_id": ["lighter_73"],
|
| 135 |
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|
| 136 |
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|
| 137 |
+
"frame_duration": [8314, 8636],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [1],
|
| 144 |
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"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_76"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
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"memory_prefix": ["the other"],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [8636, 8724],
|
| 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 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [2],
|
| 156 |
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"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_76"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [8724, 9042],
|
| 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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"skill_idx": 13,
|
| 167 |
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"skill_id": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 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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"skill_id": [88],
|
| 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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"frame_duration": [9743, 10059],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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|
| 189 |
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{
|
| 190 |
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"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 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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"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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],
|
| 214 |
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"primitive_annotation": [
|
| 215 |
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{
|
| 216 |
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"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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{
|
| 249 |
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|
| 250 |
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"primitive_id": [69],
|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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"spatial_prefix": [],
|
| 256 |
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"frame_duration": [8314, 8636],
|
| 257 |
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|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
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"primitive_id": [2],
|
| 262 |
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"primitive_description": ["pick up from"],
|
| 263 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
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"manipulating_object_id": ["firewood_76"],
|
| 265 |
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|
| 266 |
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|
| 267 |
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"frame_duration": [8636, 9042],
|
| 268 |
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"skill_idxes": [11, 12]
|
| 269 |
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},
|
| 270 |
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{
|
| 271 |
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"primitive_idx": 5,
|
| 272 |
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"primitive_id": [88],
|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
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{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
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"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
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"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
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|
| 288 |
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|
| 289 |
+
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|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
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{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
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|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [10525, 10735],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300200.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12082,
|
| 6 |
+
"valid_duration": [46, 12128]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [46, 724],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [1199, 2477],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
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|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
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|
| 35 |
+
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|
| 36 |
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"skill_description": ["pick up from"],
|
| 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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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_76"],
|
| 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": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 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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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [6833, 7398],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["lighter_73"]],
|
| 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": [7670, 8066],
|
| 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 |
+
"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8473, 9050],
|
| 126 |
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"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
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"manipulating_object_id": ["lighter_73"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [9186, 9525],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [1],
|
| 144 |
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"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_75"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
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|
| 149 |
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"frame_duration": [9537, 9842],
|
| 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 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [2],
|
| 156 |
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"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_75"],
|
| 159 |
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"memory_prefix": ["the other"],
|
| 160 |
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|
| 161 |
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"frame_duration": [9876, 10419],
|
| 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": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["lighter_73"]],
|
| 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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"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
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|
| 181 |
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"object_id": [["lighter_73", "firewood_75"]],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [10589, 10815],
|
| 186 |
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|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 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 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [46, 6754],
|
| 224 |
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|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
+
"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [3280, 7398],
|
| 235 |
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|
| 236 |
+
},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
+
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|
| 244 |
+
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|
| 245 |
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"frame_duration": [7670, 9050],
|
| 246 |
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|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
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|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
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|
| 255 |
+
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|
| 256 |
+
"frame_duration": [9186, 9525],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [9537, 10419],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [10419, 10815],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [10860, 11520],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [11788, 12128],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300210.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
| 1 |
+
{
|
| 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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| 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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| 123 |
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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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| 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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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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{
|
| 216 |
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|
| 217 |
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|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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{
|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
+
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|
| 248 |
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{
|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
+
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|
| 258 |
+
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|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
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|
| 266 |
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|
| 267 |
+
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|
| 268 |
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|
| 269 |
+
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|
| 270 |
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{
|
| 271 |
+
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|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
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|
| 274 |
+
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|
| 275 |
+
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|
| 276 |
+
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|
| 277 |
+
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|
| 278 |
+
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|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
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|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [11046, 11896],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [12166, 12480],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300220.json
ADDED
|
@@ -0,0 +1,304 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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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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| 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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| 17 |
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| 20 |
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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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| 32 |
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| 33 |
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| 35 |
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| 37 |
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| 38 |
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| 44 |
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| 56 |
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| 80 |
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| 116 |
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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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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 137 |
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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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| 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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| 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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| 176 |
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| 177 |
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| 187 |
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| 188 |
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| 189 |
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|
| 190 |
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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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| 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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| 206 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 225 |
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| 232 |
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| 233 |
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| 234 |
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| 236 |
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| 247 |
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|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [8369, 8820],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [8820, 9067],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300230.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11480,
|
| 6 |
+
"valid_duration": [59, 11539]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [59, 218],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
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"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [230, 1980],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
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"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1980, 2498],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [1],
|
| 48 |
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"skill_description": ["move to"],
|
| 49 |
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"object_id": [["firewood_76"]],
|
| 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": [2598, 3296],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 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": [2],
|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_76"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3305, 4085],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4196, 4736],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4751, 5688],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_76"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5732, 6158],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["lighter_73"]],
|
| 110 |
+
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|
| 111 |
+
"memory_prefix": [],
|
| 112 |
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|
| 113 |
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"frame_duration": [6413, 6908],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [6932, 7661],
|
| 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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"skill_id": [69],
|
| 132 |
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"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
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"manipulating_object_id": ["lighter_73"],
|
| 135 |
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|
| 136 |
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|
| 137 |
+
"frame_duration": [7868, 8063],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_75"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
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|
| 149 |
+
"frame_duration": [8066, 8288],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_75"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8297, 8771],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
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{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
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"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
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|
| 173 |
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"frame_duration": [8930, 9731],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
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"skill_type": ["navigation"]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
+
"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 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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"frame_duration": [9761, 9932],
|
| 186 |
+
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|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
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"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_75"],
|
| 195 |
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|
| 196 |
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|
| 197 |
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"frame_duration": [9947, 10981],
|
| 198 |
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"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
+
},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
+
"skill_description": ["turn off switch"],
|
| 205 |
+
"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
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"frame_duration": [11212, 11539],
|
| 210 |
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"mp_ef": [],
|
| 211 |
+
"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
+
"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
+
"spatial_prefix": [],
|
| 223 |
+
"frame_duration": [59, 5688],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
+
},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
+
"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
+
"memory_prefix": [],
|
| 233 |
+
"spatial_prefix": [],
|
| 234 |
+
"frame_duration": [2598, 6158],
|
| 235 |
+
"skill_idxes": [3, 4, 5, 7]
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
+
"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
+
"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [6413, 7661],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [7868, 8063],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [8066, 8771],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [8930, 9932],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [9947, 10981],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [11212, 11539],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300240.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9072,
|
| 6 |
+
"valid_duration": [60, 9132]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 734],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [735, 2004],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2087, 2346],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_76"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2346, 2506],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_76"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2506, 3088],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3089, 3420],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3421, 4062],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_76"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4062, 4354],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4556, 5823],
|
| 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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
+
"manipulating_object_id": ["lighter_73"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [6033, 6615],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
+
"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [6615, 6844],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_75"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [6844, 6937],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_75"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6937, 7417],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
+
"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
+
"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
"manipulating_object_id": [],
|
| 171 |
+
"memory_prefix": ["back"],
|
| 172 |
+
"spatial_prefix": [],
|
| 173 |
+
"frame_duration": [7448, 8079],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
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"skill_type": ["navigation"]
|
| 176 |
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},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
+
"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 181 |
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"object_id": [["lighter_73", "firewood_75"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [8079, 8251],
|
| 186 |
+
"mp_ef": [],
|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_75"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
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"frame_duration": [8251, 8710],
|
| 198 |
+
"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
+
{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
+
"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
+
"manipulating_object_id": ["lighter_73"],
|
| 207 |
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"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
+
"frame_duration": [8772, 9132],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
+
"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
+
"spatial_prefix": [],
|
| 223 |
+
"frame_duration": [60, 4062],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
+
},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [2346, 4354],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
+
"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [4556, 6615],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [6615, 6844],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [6844, 7417],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [7448, 8251],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [8251, 8710],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [8772, 9132],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300250.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13514,
|
| 6 |
+
"valid_duration": [0, 13514]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 784],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [932, 2646],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2799, 3345],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3354, 3963],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_75"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4158, 4770],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4774, 5100],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5100, 6203],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_75"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6263, 6779],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7140, 8359],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8493, 9955],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
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|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
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|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10352, 10689],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
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},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_76"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [10769, 10845],
|
| 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 |
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"skill_id": [2],
|
| 156 |
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"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_76"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [11126, 11561],
|
| 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 |
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"skill_idx": 13,
|
| 167 |
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"skill_id": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 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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"skill_id": [88],
|
| 180 |
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|
| 181 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [12232, 12402],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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|
| 189 |
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{
|
| 190 |
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"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 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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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
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"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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"mp_ef": [],
|
| 211 |
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|
| 212 |
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|
| 213 |
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],
|
| 214 |
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"primitive_annotation": [
|
| 215 |
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{
|
| 216 |
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"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
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|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
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|
| 243 |
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|
| 244 |
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"spatial_prefix": [],
|
| 245 |
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"frame_duration": [7140, 9955],
|
| 246 |
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"skill_idxes": [8, 9]
|
| 247 |
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|
| 248 |
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{
|
| 249 |
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"primitive_idx": 3,
|
| 250 |
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"primitive_id": [69],
|
| 251 |
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"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
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"manipulating_object_id": ["lighter_73"],
|
| 254 |
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"memory_prefix": [],
|
| 255 |
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"spatial_prefix": [],
|
| 256 |
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"frame_duration": [10352, 10689],
|
| 257 |
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"skill_idxes": [10]
|
| 258 |
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},
|
| 259 |
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{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
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"manipulating_object_id": ["firewood_76"],
|
| 265 |
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"memory_prefix": ["the other"],
|
| 266 |
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"spatial_prefix": [],
|
| 267 |
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"frame_duration": [10769, 11561],
|
| 268 |
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"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
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{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
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"primitive_id": [88],
|
| 273 |
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"primitive_description": ["ignite"],
|
| 274 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
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"manipulating_object_id": ["lighter_73"],
|
| 276 |
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|
| 277 |
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|
| 278 |
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"frame_duration": [11562, 12402],
|
| 279 |
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"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
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{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
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"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
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"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
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|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [12525, 13106],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [13242, 13514],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300260.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11367,
|
| 6 |
+
"valid_duration": [57, 11424]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [57, 1087],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
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"manipulating_object_id": ["newspaper_74"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [1087, 2638],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
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"manipulating_object_id": ["newspaper_74"],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2969, 3360],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 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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|
| 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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"object_id": [["wood_fireplace_gpnsij_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": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 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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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
+
"frame_duration": [6216, 6586],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["lighter_73"]],
|
| 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": [6985, 7524],
|
| 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 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [7524, 8031],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
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"manipulating_object_id": ["lighter_73"],
|
| 135 |
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|
| 136 |
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"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [8296, 8475],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
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},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_76"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [8485, 8784],
|
| 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 |
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"skill_id": [2],
|
| 156 |
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"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_76"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [8784, 9263],
|
| 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 |
+
"skill_id": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 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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"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
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|
| 181 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [9976, 10111],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 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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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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"frame_duration": [11209, 11424],
|
| 210 |
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"mp_ef": [],
|
| 211 |
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|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [57, 6089],
|
| 224 |
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|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
+
"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [3360, 6586],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
+
},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
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"manipulating_object_id": ["lighter_73"],
|
| 243 |
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|
| 244 |
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|
| 245 |
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"frame_duration": [6985, 8031],
|
| 246 |
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|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
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|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [8296, 8475],
|
| 257 |
+
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|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [8485, 9263],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [9299, 10111],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [10377, 10926],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [11209, 11424],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300280.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 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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| 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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| 49 |
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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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|
| 61 |
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|
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| 63 |
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| 64 |
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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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| 75 |
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| 76 |
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| 77 |
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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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| 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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| 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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| 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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| 207 |
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| 208 |
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| 209 |
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|
| 210 |
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| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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{
|
| 216 |
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|
| 217 |
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|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
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"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
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"manipulating_object_id": ["firewood_76"],
|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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{
|
| 271 |
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|
| 272 |
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"primitive_id": [88],
|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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"skill_idxes": [13, 14]
|
| 280 |
+
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|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
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|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
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|
| 290 |
+
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|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [9545, 9803],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300300.json
ADDED
|
@@ -0,0 +1,304 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13997,
|
| 6 |
+
"valid_duration": [0, 13997]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 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 |
+
{
|
| 22 |
+
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|
| 23 |
+
"skill_id": [90],
|
| 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 |
+
{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 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": ["move to"],
|
| 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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"skill_description": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 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 |
+
},
|
| 93 |
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{
|
| 94 |
+
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|
| 95 |
+
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|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
+
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|
| 101 |
+
"frame_duration": [7460, 8177],
|
| 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": [["lighter_73"]],
|
| 110 |
+
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|
| 111 |
+
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|
| 112 |
+
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|
| 113 |
+
"frame_duration": [8450, 9101],
|
| 114 |
+
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|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
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|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
+
"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9122, 10013],
|
| 126 |
+
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|
| 127 |
+
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|
| 128 |
+
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|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
+
"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_75"]],
|
| 146 |
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|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
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|
| 149 |
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"frame_duration": [10793, 10982],
|
| 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": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_75"],
|
| 159 |
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"memory_prefix": ["the other"],
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
+
},
|
| 165 |
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{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
+
"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
+
"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
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|
| 171 |
+
"memory_prefix": ["back"],
|
| 172 |
+
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|
| 173 |
+
"frame_duration": [11996, 12422],
|
| 174 |
+
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|
| 175 |
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"skill_type": ["navigation"]
|
| 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 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 182 |
+
"manipulating_object_id": ["lighter_73"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [12437, 12655],
|
| 186 |
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|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
+
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|
| 189 |
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{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
+
"manipulating_object_id": ["firewood_75"],
|
| 195 |
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|
| 196 |
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|
| 197 |
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"frame_duration": [12745, 13550],
|
| 198 |
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"mp_ef": [],
|
| 199 |
+
"skill_type": ["uncoordinated"]
|
| 200 |
+
},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
+
"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
+
"manipulating_object_id": ["lighter_73"],
|
| 207 |
+
"memory_prefix": [],
|
| 208 |
+
"spatial_prefix": [],
|
| 209 |
+
"frame_duration": [13676, 13997],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
+
"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
+
"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
+
"spatial_prefix": [],
|
| 223 |
+
"frame_duration": [0, 7382],
|
| 224 |
+
"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
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|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
+
"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
+
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|
| 233 |
+
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|
| 234 |
+
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|
| 235 |
+
"skill_idxes": [3, 4, 5, 7]
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
+
"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
+
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|
| 244 |
+
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|
| 245 |
+
"frame_duration": [8450, 10013],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
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|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [10457, 10766],
|
| 257 |
+
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|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
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|
| 267 |
+
"frame_duration": [10793, 11738],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
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|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [11996, 12655],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [12745, 13550],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [13676, 13997],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300310.json
ADDED
|
@@ -0,0 +1,292 @@
|
|
|
|
|
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| 1 |
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| 2 |
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|
| 3 |
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|
| 9 |
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| 12 |
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| 28 |
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| 32 |
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| 44 |
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| 55 |
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| 80 |
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| 92 |
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| 115 |
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| 116 |
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| 118 |
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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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| 132 |
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| 133 |
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| 134 |
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| 137 |
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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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| 148 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 159 |
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| 161 |
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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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| 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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| 180 |
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| 184 |
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| 185 |
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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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| 199 |
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| 200 |
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| 201 |
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| 203 |
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| 213 |
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| 222 |
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| 224 |
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| 225 |
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| 232 |
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| 233 |
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| 234 |
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| 235 |
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"manipulating_object_id": ["firewood_76"],
|
| 253 |
+
"memory_prefix": ["the other"],
|
| 254 |
+
"spatial_prefix": [],
|
| 255 |
+
"frame_duration": [7756, 8596],
|
| 256 |
+
"skill_idxes": [11, 12]
|
| 257 |
+
},
|
| 258 |
+
{
|
| 259 |
+
"primitive_idx": 5,
|
| 260 |
+
"primitive_id": [88],
|
| 261 |
+
"primitive_description": ["ignite"],
|
| 262 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 263 |
+
"manipulating_object_id": ["lighter_73"],
|
| 264 |
+
"memory_prefix": [],
|
| 265 |
+
"spatial_prefix": [],
|
| 266 |
+
"frame_duration": [8596, 8730],
|
| 267 |
+
"skill_idxes": [13]
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"primitive_idx": 6,
|
| 271 |
+
"primitive_id": [4],
|
| 272 |
+
"primitive_description": ["place in"],
|
| 273 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 274 |
+
"manipulating_object_id": ["firewood_76"],
|
| 275 |
+
"memory_prefix": ["the other"],
|
| 276 |
+
"spatial_prefix": [],
|
| 277 |
+
"frame_duration": [8730, 9196],
|
| 278 |
+
"skill_idxes": [14]
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"primitive_idx": 7,
|
| 282 |
+
"primitive_id": [70],
|
| 283 |
+
"primitive_description": ["turn off switch"],
|
| 284 |
+
"object_id": [["lighter_73"]],
|
| 285 |
+
"manipulating_object_id": ["lighter_73"],
|
| 286 |
+
"memory_prefix": [],
|
| 287 |
+
"spatial_prefix": [],
|
| 288 |
+
"frame_duration": [9240, 9376],
|
| 289 |
+
"skill_idxes": [15]
|
| 290 |
+
}
|
| 291 |
+
]
|
| 292 |
+
}
|
annotations/task-0030/episode_00300320.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11765,
|
| 6 |
+
"valid_duration": [85, 11850]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [85, 381],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [381, 1877],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1877, 2540],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2588, 2857],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_76"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2880, 3433],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3673, 4271],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4271, 5120],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_76"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5334, 5982],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [6134, 7212],
|
| 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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
+
"manipulating_object_id": ["lighter_73"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7212, 7920],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
+
"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [8132, 8396],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_75"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [8459, 8610],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_75"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8655, 9446],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
+
"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
+
"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
+
"spatial_prefix": [],
|
| 173 |
+
"frame_duration": [9448, 10290],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
+
"skill_type": ["navigation"]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
+
"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 181 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
+
"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [10316, 10458],
|
| 186 |
+
"mp_ef": [],
|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
+
"manipulating_object_id": ["firewood_75"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [10825, 11386],
|
| 198 |
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"mp_ef": [],
|
| 199 |
+
"skill_type": ["uncoordinated"]
|
| 200 |
+
},
|
| 201 |
+
{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
+
"skill_description": ["turn off switch"],
|
| 205 |
+
"object_id": [["lighter_73"]],
|
| 206 |
+
"manipulating_object_id": ["lighter_73"],
|
| 207 |
+
"memory_prefix": [],
|
| 208 |
+
"spatial_prefix": [],
|
| 209 |
+
"frame_duration": [11556, 11850],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
+
"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [85, 5120],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
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"primitive_idx": 1,
|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [2588, 5982],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
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"manipulating_object_id": ["lighter_73"],
|
| 243 |
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"memory_prefix": [],
|
| 244 |
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"spatial_prefix": [],
|
| 245 |
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"frame_duration": [6134, 7920],
|
| 246 |
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"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [8132, 8396],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [8459, 9446],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [9448, 10458],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [10825, 11386],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [11556, 11850],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300340.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
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|
|
|
|
|
|
|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10744,
|
| 6 |
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"valid_duration": [86, 10830]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 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": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
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|
| 16 |
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|
| 17 |
+
"frame_duration": [86, 330],
|
| 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": [90],
|
| 24 |
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"skill_description": ["push to"],
|
| 25 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
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"manipulating_object_id": ["newspaper_74"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
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"frame_duration": [333, 1620],
|
| 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": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
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"manipulating_object_id": ["newspaper_74"],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1650, 1965],
|
| 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 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [1],
|
| 48 |
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"skill_description": ["move to"],
|
| 49 |
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"object_id": [["firewood_76"]],
|
| 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": [1996, 2430],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 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": [2],
|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_76"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [2460, 3240],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [3240, 3570],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
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"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3570, 4014],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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"manipulating_object_id": ["firewood_76"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [4014, 4278],
|
| 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 |
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"object_id": [["lighter_73"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [4320, 5400],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [6540, 7800],
|
| 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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"skill_id": [69],
|
| 132 |
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"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
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"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
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|
| 136 |
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|
| 137 |
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"frame_duration": [8520, 8685],
|
| 138 |
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|
| 139 |
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"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_75"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
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"frame_duration": [8700, 8729],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_75"],
|
| 159 |
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"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8760, 9360],
|
| 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 |
+
"skill_id": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
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"spatial_prefix": [],
|
| 173 |
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"frame_duration": [9360, 9780],
|
| 174 |
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"mp_ef": [],
|
| 175 |
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"skill_type": ["navigation"]
|
| 176 |
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|
| 177 |
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{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
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"skill_description": ["ignite"],
|
| 181 |
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"object_id": [["lighter_73", "firewood_75"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [9780, 9993],
|
| 186 |
+
"mp_ef": [],
|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_75"],
|
| 195 |
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|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [9994, 10500],
|
| 198 |
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"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
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"frame_duration": [10500, 10830],
|
| 210 |
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"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
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}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
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{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [86, 4014],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
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"primitive_idx": 1,
|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [1996, 4278],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
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"manipulating_object_id": ["lighter_73"],
|
| 243 |
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"memory_prefix": [],
|
| 244 |
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"spatial_prefix": [],
|
| 245 |
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"frame_duration": [4320, 7800],
|
| 246 |
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"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [8520, 8685],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [8700, 9360],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [9360, 9993],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [9994, 10500],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [10500, 10830],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300350.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11597,
|
| 6 |
+
"valid_duration": [90, 11687]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [90, 243],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [243, 1306],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1429, 2283],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_76"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2286, 2746],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_76"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2746, 4086],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4086, 4746],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4768, 5896],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
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|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 98 |
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"manipulating_object_id": ["firewood_76"],
|
| 99 |
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|
| 100 |
+
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|
| 101 |
+
"frame_duration": [5956, 6577],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [6577, 7267],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7267, 7936],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
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|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [8280, 8668],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_75"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
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"frame_duration": [8668, 9076],
|
| 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 |
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"skill_id": [2],
|
| 156 |
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"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_75"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [9076, 9676],
|
| 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 |
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"skill_idx": 13,
|
| 167 |
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"skill_id": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 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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"skill_idx": 14,
|
| 179 |
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"skill_id": [88],
|
| 180 |
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|
| 181 |
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"object_id": [["lighter_73", "firewood_75"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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|
| 184 |
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"spatial_prefix": [],
|
| 185 |
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"frame_duration": [10456, 10648],
|
| 186 |
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"mp_ef": [],
|
| 187 |
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"skill_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
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"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_75"],
|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
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"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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"manipulating_object_id": ["lighter_73"],
|
| 207 |
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|
| 208 |
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|
| 209 |
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"frame_duration": [11419, 11687],
|
| 210 |
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"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
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}
|
| 213 |
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],
|
| 214 |
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"primitive_annotation": [
|
| 215 |
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{
|
| 216 |
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"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
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"primitive_description": ["pick up from", "place in"],
|
| 219 |
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"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
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"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [90, 5896],
|
| 224 |
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|
| 225 |
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|
| 226 |
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{
|
| 227 |
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"primitive_idx": 1,
|
| 228 |
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"primitive_id": [2, 4],
|
| 229 |
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"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
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|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [2286, 6577],
|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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{
|
| 249 |
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"primitive_idx": 3,
|
| 250 |
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"primitive_id": [69],
|
| 251 |
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"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
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"manipulating_object_id": ["lighter_73"],
|
| 254 |
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|
| 255 |
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"spatial_prefix": [],
|
| 256 |
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"frame_duration": [8280, 8668],
|
| 257 |
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"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
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{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
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"memory_prefix": ["the other"],
|
| 266 |
+
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|
| 267 |
+
"frame_duration": [8668, 9676],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
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"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
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"manipulating_object_id": ["lighter_73"],
|
| 276 |
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|
| 277 |
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|
| 278 |
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"frame_duration": [9676, 10648],
|
| 279 |
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"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [10648, 11386],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [11419, 11687],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300360.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12012,
|
| 6 |
+
"valid_duration": [48, 12060]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [48, 355],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [356, 1485],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 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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"skill_description": ["place in"],
|
| 85 |
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"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 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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"skill_description": ["place in"],
|
| 97 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_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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"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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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["lighter_73"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [6412, 7530],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
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|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
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"manipulating_object_id": ["lighter_73"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [8400, 8709],
|
| 138 |
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"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
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},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
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"object_id": [["firewood_75"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [8730, 8895],
|
| 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 |
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"skill_id": [2],
|
| 156 |
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"skill_description": ["pick up from"],
|
| 157 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 158 |
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"manipulating_object_id": ["firewood_75"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [8925, 10024],
|
| 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": [1],
|
| 168 |
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"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 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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"skill_id": [88],
|
| 180 |
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|
| 181 |
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"object_id": [["lighter_73", "firewood_75"]],
|
| 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_type": ["coordinated"]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
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|
| 192 |
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"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 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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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
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"skill_id": [70],
|
| 204 |
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|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
+
"frame_duration": [48, 5625],
|
| 224 |
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|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_76", "floors_ulujpr_0"], ["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_76", "firewood_76"],
|
| 232 |
+
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|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [2133, 6412],
|
| 235 |
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|
| 236 |
+
},
|
| 237 |
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{
|
| 238 |
+
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|
| 239 |
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"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
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"manipulating_object_id": ["lighter_73"],
|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
+
},
|
| 248 |
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{
|
| 249 |
+
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|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
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"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
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|
| 255 |
+
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|
| 256 |
+
"frame_duration": [8400, 8709],
|
| 257 |
+
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|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_75"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
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|
| 267 |
+
"frame_duration": [8730, 10024],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_75"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [10036, 10537],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [10808, 11629],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [11789, 12060],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300400.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
| 1 |
+
{
|
| 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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| 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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| 123 |
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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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| 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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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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{
|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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{
|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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{
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
+
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|
| 248 |
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{
|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
+
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|
| 257 |
+
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|
| 258 |
+
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|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
+
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|
| 270 |
+
{
|
| 271 |
+
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|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
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|
| 274 |
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|
| 275 |
+
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|
| 276 |
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|
| 277 |
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|
| 278 |
+
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|
| 279 |
+
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|
| 280 |
+
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|
| 281 |
+
{
|
| 282 |
+
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|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
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|
| 288 |
+
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|
| 289 |
+
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|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [10583, 10848],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300410.json
ADDED
|
@@ -0,0 +1,304 @@
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|
|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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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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| 9 |
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| 11 |
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| 12 |
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| 200 |
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| 285 |
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"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_75"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [9961, 10626],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [10666, 11160],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300440.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11503,
|
| 6 |
+
"valid_duration": [0, 11503]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 310],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [347, 3429],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
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"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3429, 4116],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [1],
|
| 48 |
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"skill_description": ["move to"],
|
| 49 |
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"object_id": [["firewood_75"]],
|
| 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": [4125, 4440],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 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": [2],
|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_75"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4440, 5073],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5163, 5552],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5553, 6525],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_75"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6526, 7103],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7173, 7785],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
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"manipulating_object_id": ["lighter_73"],
|
| 123 |
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"memory_prefix": [],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [7803, 8343],
|
| 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": [69],
|
| 132 |
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"skill_description": ["turn on switch"],
|
| 133 |
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"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
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|
| 136 |
+
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|
| 137 |
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"frame_duration": [8396, 8829],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_76"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [8853, 9149],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_76"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [9158, 9556],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
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{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
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"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
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"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
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"manipulating_object_id": [],
|
| 171 |
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"memory_prefix": ["back"],
|
| 172 |
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"spatial_prefix": [],
|
| 173 |
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"frame_duration": [9570, 10155],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
+
"skill_type": ["navigation"]
|
| 176 |
+
},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
+
"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 181 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
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"manipulating_object_id": ["lighter_73"],
|
| 183 |
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|
| 184 |
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|
| 185 |
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"frame_duration": [10173, 10307],
|
| 186 |
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"mp_ef": [],
|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
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"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 195 |
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|
| 196 |
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|
| 197 |
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"frame_duration": [10308, 11100],
|
| 198 |
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"mp_ef": [],
|
| 199 |
+
"skill_type": ["uncoordinated"]
|
| 200 |
+
},
|
| 201 |
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{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
+
"skill_description": ["turn off switch"],
|
| 205 |
+
"object_id": [["lighter_73"]],
|
| 206 |
+
"manipulating_object_id": ["lighter_73"],
|
| 207 |
+
"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
+
"frame_duration": [11190, 11503],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
+
"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
+
"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
+
"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
+
"spatial_prefix": [],
|
| 223 |
+
"frame_duration": [0, 6525],
|
| 224 |
+
"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
+
},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
+
"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
+
"memory_prefix": [],
|
| 233 |
+
"spatial_prefix": [],
|
| 234 |
+
"frame_duration": [4125, 7103],
|
| 235 |
+
"skill_idxes": [3, 4, 5, 7]
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
+
"primitive_id": [2],
|
| 240 |
+
"primitive_description": ["pick up from"],
|
| 241 |
+
"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
+
"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [7173, 8343],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [8396, 8829],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [8853, 9556],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [9570, 10307],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [10308, 11100],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [11190, 11503],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300500.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
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|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10080,
|
| 6 |
+
"valid_duration": [75, 10155]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [75, 595],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [631, 1596],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1597, 1842],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1845, 2073],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
+
"manipulating_object_id": ["firewood_75"],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2347, 2639],
|
| 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": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [2902, 3226],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [3355, 3816],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_75"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [3816, 4059],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [4137, 5084],
|
| 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": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 122 |
+
"manipulating_object_id": ["lighter_73"],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [5114, 6640],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [69],
|
| 132 |
+
"skill_description": ["turn on switch"],
|
| 133 |
+
"object_id": [["lighter_73"]],
|
| 134 |
+
"manipulating_object_id": ["lighter_73"],
|
| 135 |
+
"memory_prefix": [],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [7460, 7631],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["coordinated"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [1],
|
| 144 |
+
"skill_description": ["move to"],
|
| 145 |
+
"object_id": [["firewood_76"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": ["the other"],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [7641, 7691],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["navigation"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [2],
|
| 156 |
+
"skill_description": ["pick up from"],
|
| 157 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 158 |
+
"manipulating_object_id": ["firewood_76"],
|
| 159 |
+
"memory_prefix": ["the other"],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7692, 8467],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"skill_idx": 13,
|
| 167 |
+
"skill_id": [1],
|
| 168 |
+
"skill_description": ["move to"],
|
| 169 |
+
"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 170 |
+
"manipulating_object_id": [],
|
| 171 |
+
"memory_prefix": ["back"],
|
| 172 |
+
"spatial_prefix": [],
|
| 173 |
+
"frame_duration": [8490, 9091],
|
| 174 |
+
"mp_ef": [],
|
| 175 |
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"skill_type": ["navigation"]
|
| 176 |
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},
|
| 177 |
+
{
|
| 178 |
+
"skill_idx": 14,
|
| 179 |
+
"skill_id": [88],
|
| 180 |
+
"skill_description": ["ignite"],
|
| 181 |
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"object_id": [["lighter_73", "firewood_76"]],
|
| 182 |
+
"manipulating_object_id": ["lighter_73"],
|
| 183 |
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"memory_prefix": [],
|
| 184 |
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"spatial_prefix": [],
|
| 185 |
+
"frame_duration": [9162, 9365],
|
| 186 |
+
"mp_ef": [],
|
| 187 |
+
"skill_type": ["coordinated"]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"skill_idx": 15,
|
| 191 |
+
"skill_id": [4],
|
| 192 |
+
"skill_description": ["place in"],
|
| 193 |
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"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 194 |
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"manipulating_object_id": ["firewood_76"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [9420, 9960],
|
| 198 |
+
"mp_ef": [],
|
| 199 |
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"skill_type": ["uncoordinated"]
|
| 200 |
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},
|
| 201 |
+
{
|
| 202 |
+
"skill_idx": 16,
|
| 203 |
+
"skill_id": [70],
|
| 204 |
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"skill_description": ["turn off switch"],
|
| 205 |
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"object_id": [["lighter_73"]],
|
| 206 |
+
"manipulating_object_id": ["lighter_73"],
|
| 207 |
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"memory_prefix": [],
|
| 208 |
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"spatial_prefix": [],
|
| 209 |
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"frame_duration": [10017, 10155],
|
| 210 |
+
"mp_ef": [],
|
| 211 |
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"skill_type": ["coordinated"]
|
| 212 |
+
}
|
| 213 |
+
],
|
| 214 |
+
"primitive_annotation": [
|
| 215 |
+
{
|
| 216 |
+
"primitive_idx": 0,
|
| 217 |
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"primitive_id": [2, 4],
|
| 218 |
+
"primitive_description": ["pick up from", "place in"],
|
| 219 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"], ["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 220 |
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"manipulating_object_id": ["newspaper_74", "newspaper_74"],
|
| 221 |
+
"memory_prefix": [],
|
| 222 |
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"spatial_prefix": [],
|
| 223 |
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"frame_duration": [75, 3816],
|
| 224 |
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"skill_idxes": [0, 1, 2, 5, 6]
|
| 225 |
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},
|
| 226 |
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{
|
| 227 |
+
"primitive_idx": 1,
|
| 228 |
+
"primitive_id": [2, 4],
|
| 229 |
+
"primitive_description": ["pick up from", "place in"],
|
| 230 |
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"object_id": [["firewood_75", "floors_ulujpr_0"], ["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 231 |
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"manipulating_object_id": ["firewood_75", "firewood_75"],
|
| 232 |
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"memory_prefix": [],
|
| 233 |
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"spatial_prefix": [],
|
| 234 |
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"frame_duration": [1845, 4059],
|
| 235 |
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"skill_idxes": [3, 4, 5, 7]
|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
+
"primitive_idx": 2,
|
| 239 |
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"primitive_id": [2],
|
| 240 |
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"primitive_description": ["pick up from"],
|
| 241 |
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"object_id": [["lighter_73", "coffee_table_koagbh_0"]],
|
| 242 |
+
"manipulating_object_id": ["lighter_73"],
|
| 243 |
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"memory_prefix": [],
|
| 244 |
+
"spatial_prefix": [],
|
| 245 |
+
"frame_duration": [4137, 6640],
|
| 246 |
+
"skill_idxes": [8, 9]
|
| 247 |
+
},
|
| 248 |
+
{
|
| 249 |
+
"primitive_idx": 3,
|
| 250 |
+
"primitive_id": [69],
|
| 251 |
+
"primitive_description": ["turn on switch"],
|
| 252 |
+
"object_id": [["lighter_73"]],
|
| 253 |
+
"manipulating_object_id": ["lighter_73"],
|
| 254 |
+
"memory_prefix": [],
|
| 255 |
+
"spatial_prefix": [],
|
| 256 |
+
"frame_duration": [7460, 7631],
|
| 257 |
+
"skill_idxes": [10]
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"primitive_idx": 4,
|
| 261 |
+
"primitive_id": [2],
|
| 262 |
+
"primitive_description": ["pick up from"],
|
| 263 |
+
"object_id": [["firewood_76", "floors_ulujpr_0"]],
|
| 264 |
+
"manipulating_object_id": ["firewood_76"],
|
| 265 |
+
"memory_prefix": ["the other"],
|
| 266 |
+
"spatial_prefix": [],
|
| 267 |
+
"frame_duration": [7641, 8467],
|
| 268 |
+
"skill_idxes": [11, 12]
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"primitive_idx": 5,
|
| 272 |
+
"primitive_id": [88],
|
| 273 |
+
"primitive_description": ["ignite"],
|
| 274 |
+
"object_id": [["lighter_73", "firewood_76"]],
|
| 275 |
+
"manipulating_object_id": ["lighter_73"],
|
| 276 |
+
"memory_prefix": [],
|
| 277 |
+
"spatial_prefix": [],
|
| 278 |
+
"frame_duration": [8490, 9365],
|
| 279 |
+
"skill_idxes": [13, 14]
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"primitive_idx": 6,
|
| 283 |
+
"primitive_id": [4],
|
| 284 |
+
"primitive_description": ["place in"],
|
| 285 |
+
"object_id": [["firewood_76", "wood_fireplace_gpnsij_0"]],
|
| 286 |
+
"manipulating_object_id": ["firewood_76"],
|
| 287 |
+
"memory_prefix": [],
|
| 288 |
+
"spatial_prefix": [],
|
| 289 |
+
"frame_duration": [9420, 9960],
|
| 290 |
+
"skill_idxes": [15]
|
| 291 |
+
},
|
| 292 |
+
{
|
| 293 |
+
"primitive_idx": 7,
|
| 294 |
+
"primitive_id": [70],
|
| 295 |
+
"primitive_description": ["turn off switch"],
|
| 296 |
+
"object_id": [["lighter_73"]],
|
| 297 |
+
"manipulating_object_id": ["lighter_73"],
|
| 298 |
+
"memory_prefix": [],
|
| 299 |
+
"spatial_prefix": [],
|
| 300 |
+
"frame_duration": [10017, 10155],
|
| 301 |
+
"skill_idxes": [16]
|
| 302 |
+
}
|
| 303 |
+
]
|
| 304 |
+
}
|
annotations/task-0030/episode_00300510.json
ADDED
|
@@ -0,0 +1,304 @@
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|
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|
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|
|
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|
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|
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|
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|
|
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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": "setting the fire",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9961,
|
| 6 |
+
"valid_duration": [75, 10036]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["newspaper_74"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [75, 573],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [90],
|
| 24 |
+
"skill_description": ["push to"],
|
| 25 |
+
"object_id": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [["", "to_the_edge_of"]],
|
| 29 |
+
"frame_duration": [622, 2406],
|
| 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": [["newspaper_74", "coffee_table_koagbh_0"]],
|
| 38 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2415, 2868],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [1],
|
| 48 |
+
"skill_description": ["move to"],
|
| 49 |
+
"object_id": [["firewood_75"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2868, 3165],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["navigation"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["firewood_75", "floors_ulujpr_0"]],
|
| 62 |
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"manipulating_object_id": ["firewood_75"],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3165, 3930],
|
| 66 |
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"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["wood_fireplace_gpnsij_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3933, 4215],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [4],
|
| 84 |
+
"skill_description": ["place in"],
|
| 85 |
+
"object_id": [["newspaper_74", "wood_fireplace_gpnsij_0"]],
|
| 86 |
+
"manipulating_object_id": ["newspaper_74"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4215, 4984],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [4],
|
| 96 |
+
"skill_description": ["place in"],
|
| 97 |
+
"object_id": [["firewood_75", "wood_fireplace_gpnsij_0"]],
|
| 98 |
+
"manipulating_object_id": ["firewood_75"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [4984, 5559],
|
| 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": [["lighter_73"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
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| 128 |
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| 140 |
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| 156 |
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| 164 |
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| 165 |
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| 176 |
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| 180 |
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| 188 |
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| 189 |
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| 192 |
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| 199 |
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| 200 |
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| 201 |
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| 204 |
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| 209 |
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| 212 |
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| 213 |
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| 218 |
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| 219 |
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| 229 |
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| 230 |
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| 247 |
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| 262 |
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| 269 |
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| 270 |
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| 284 |
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| 295 |
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| 300 |
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| 302 |
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| 303 |
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| 304 |
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}
|