Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- annotations/task-0000/episode_00000120.json +93 -0
- annotations/task-0000/episode_00000180.json +93 -0
- annotations/task-0000/episode_00000210.json +93 -0
- annotations/task-0000/episode_00000220.json +93 -0
- annotations/task-0000/episode_00000250.json +93 -0
- annotations/task-0000/episode_00000260.json +93 -0
- annotations/task-0000/episode_00000270.json +93 -0
- annotations/task-0000/episode_00000330.json +93 -0
- annotations/task-0000/episode_00000450.json +93 -0
- annotations/task-0000/episode_00000480.json +93 -0
- annotations/task-0000/episode_00000490.json +93 -0
- annotations/task-0000/episode_00000550.json +93 -0
- annotations/task-0000/episode_00000570.json +93 -0
- annotations/task-0000/episode_00000620.json +93 -0
- annotations/task-0000/episode_00000630.json +93 -0
- annotations/task-0000/episode_00000640.json +93 -0
- annotations/task-0000/episode_00000780.json +93 -0
- annotations/task-0000/episode_00000800.json +93 -0
- annotations/task-0000/episode_00000840.json +93 -0
- annotations/task-0000/episode_00000900.json +93 -0
- annotations/task-0000/episode_00000940.json +93 -0
- annotations/task-0000/episode_00001030.json +93 -0
- annotations/task-0000/episode_00001100.json +93 -0
- annotations/task-0000/episode_00001140.json +93 -0
- annotations/task-0000/episode_00001160.json +93 -0
- annotations/task-0000/episode_00001260.json +93 -0
- annotations/task-0000/episode_00001290.json +93 -0
- annotations/task-0000/episode_00001320.json +93 -0
- annotations/task-0000/episode_00001340.json +93 -0
- annotations/task-0000/episode_00001430.json +93 -0
- annotations/task-0000/episode_00001470.json +93 -0
- annotations/task-0000/episode_00001510.json +93 -0
- annotations/task-0000/episode_00001550.json +93 -0
- annotations/task-0000/episode_00001610.json +93 -0
- annotations/task-0000/episode_00001740.json +93 -0
- annotations/task-0000/episode_00001790.json +93 -0
- annotations/task-0000/episode_00001830.json +93 -0
- annotations/task-0000/episode_00002010.json +93 -0
- annotations/task-0000/episode_00002050.json +93 -0
- annotations/task-0000/episode_00002060.json +93 -0
- annotations/task-0000/episode_00002070.json +93 -0
- annotations/task-0000/episode_00002510.json +93 -0
- annotations/task-0000/episode_00002520.json +93 -0
- annotations/task-0000/episode_00002690.json +93 -0
- annotations/task-0000/episode_00002720.json +93 -0
- annotations/task-0000/episode_00002740.json +93 -0
- annotations/task-0000/episode_00002970.json +93 -0
- annotations/task-0000/episode_00002990.json +93 -0
- annotations/task-0000/episode_00003000.json +93 -0
- annotations/task-0016/episode_00160010.json +165 -0
annotations/task-0000/episode_00000120.json
ADDED
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{
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"task_name": "turning on radio",
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"data_folder": "",
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"meta_data": {
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"task_duration": 2769,
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"valid_duration": [0, 2769]
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},
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"skill_annotation": [
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{
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"skill_idx": 0,
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| 11 |
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"skill_id": [1],
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"skill_description": ["move to"],
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"object_id": [["radio_89"]],
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"manipulating_object_id": [],
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"spatial_prefix": [],
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"frame_duration": [0, 634],
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"mp_ef": [],
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"skill_type": ["navigation"]
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{
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"skill_idx": 1,
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"skill_id": [2],
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"skill_description": ["pick up from"],
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [828, 2141],
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"mp_ef": [],
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"skill_type": ["uncoordinated"]
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},
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{
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"skill_idx": 2,
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"skill_id": [67],
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"skill_description": ["press"],
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"object_id": [["radio_89"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [2142, 2616],
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"mp_ef": [],
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"skill_type": ["coordinated"]
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},
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{
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"skill_idx": 3,
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"skill_id": [3],
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| 48 |
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"skill_description": ["place on"],
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| 49 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 50 |
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": ["back"],
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"spatial_prefix": [],
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"frame_duration": [2616, 2769],
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"mp_ef": [],
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"skill_type": ["uncoordinated"]
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}
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],
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"primitive_annotation": [
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{
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| 60 |
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"primitive_idx": 0,
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| 61 |
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"primitive_id": [2],
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| 62 |
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"primitive_description": ["pick up from"],
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| 63 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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"spatial_prefix": [],
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"frame_duration": [0, 2141],
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"skill_idxes": [0, 1]
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{
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"primitive_idx": 1,
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| 72 |
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"primitive_id": [67],
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| 73 |
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"primitive_description": ["press"],
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"object_id": [["radio_89"]],
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"manipulating_object_id": ["radio_89"],
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"memory_prefix": [],
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| 77 |
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"spatial_prefix": [],
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"frame_duration": [2142, 2616],
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"skill_idxes": [2]
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},
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| 81 |
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{
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| 82 |
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"primitive_idx": 2,
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| 83 |
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"primitive_id": [3],
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| 84 |
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"primitive_description": ["place on"],
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| 85 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 86 |
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"manipulating_object_id": ["radio_89"],
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| 87 |
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"memory_prefix": ["back"],
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| 88 |
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"spatial_prefix": [],
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| 89 |
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"frame_duration": [2616, 2769],
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| 90 |
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"skill_idxes": [3]
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| 91 |
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}
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]
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}
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annotations/task-0000/episode_00000180.json
ADDED
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@@ -0,0 +1,93 @@
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| 1 |
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{
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| 2 |
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"task_name": "turning on radio",
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| 3 |
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"data_folder": "",
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| 4 |
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"meta_data": {
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| 5 |
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"task_duration": 1860,
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| 6 |
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"valid_duration": [0, 1860]
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| 7 |
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},
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| 8 |
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"skill_annotation": [
|
| 9 |
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{
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| 10 |
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"skill_idx": 0,
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| 11 |
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["radio_89"]],
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| 14 |
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"manipulating_object_id": [],
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| 15 |
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| 16 |
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"spatial_prefix": [],
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| 17 |
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"frame_duration": [0, 521],
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| 18 |
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"mp_ef": [],
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| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
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| 21 |
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
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| 26 |
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"manipulating_object_id": ["radio_89"],
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| 27 |
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"memory_prefix": [],
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| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [567, 1354],
|
| 30 |
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"mp_ef": [],
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| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
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| 33 |
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{
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| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [67],
|
| 36 |
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"skill_description": ["press"],
|
| 37 |
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"object_id": [["radio_89"]],
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| 38 |
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"manipulating_object_id": ["radio_89"],
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| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1355, 1679],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["coordinated"]
|
| 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": [3],
|
| 48 |
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"skill_description": ["place on"],
|
| 49 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
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"manipulating_object_id": ["radio_89"],
|
| 51 |
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"memory_prefix": ["back"],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1679, 1860],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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}
|
| 57 |
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],
|
| 58 |
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"primitive_annotation": [
|
| 59 |
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{
|
| 60 |
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"primitive_idx": 0,
|
| 61 |
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"primitive_id": [2],
|
| 62 |
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"primitive_description": ["pick up from"],
|
| 63 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
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"manipulating_object_id": ["radio_89"],
|
| 65 |
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"memory_prefix": [],
|
| 66 |
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"spatial_prefix": [],
|
| 67 |
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"frame_duration": [0, 1354],
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| 68 |
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"skill_idxes": [0, 1]
|
| 69 |
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},
|
| 70 |
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{
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| 71 |
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"primitive_idx": 1,
|
| 72 |
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"primitive_id": [67],
|
| 73 |
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"primitive_description": ["press"],
|
| 74 |
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"object_id": [["radio_89"]],
|
| 75 |
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"manipulating_object_id": ["radio_89"],
|
| 76 |
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"memory_prefix": [],
|
| 77 |
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"spatial_prefix": [],
|
| 78 |
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"frame_duration": [1355, 1679],
|
| 79 |
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"skill_idxes": [2]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"primitive_idx": 2,
|
| 83 |
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"primitive_id": [3],
|
| 84 |
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"primitive_description": ["place on"],
|
| 85 |
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"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
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"manipulating_object_id": ["radio_89"],
|
| 87 |
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"memory_prefix": ["back"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [1679, 1860],
|
| 90 |
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"skill_idxes": [3]
|
| 91 |
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}
|
| 92 |
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]
|
| 93 |
+
}
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annotations/task-0000/episode_00000210.json
ADDED
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| 1 |
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{
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| 2 |
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"task_name": "turning on radio",
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| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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"task_duration": 1774,
|
| 6 |
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"valid_duration": [0, 1774]
|
| 7 |
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},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["radio_89"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 682],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [682, 1294],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1294, 1477],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1478, 1774],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1294],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1294, 1477],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1478, 1774],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000220.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2353,
|
| 6 |
+
"valid_duration": [24, 2377]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [24, 816],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [816, 1712],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1712, 2071],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2072, 2377],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [24, 1712],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1712, 2071],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2072, 2377],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000250.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2454,
|
| 6 |
+
"valid_duration": [0, 2454]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 848],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [848, 1840],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1855, 2184],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2184, 2454],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1840],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1855, 2184],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2184, 2454],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000260.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2133,
|
| 6 |
+
"valid_duration": [0, 2133]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 833],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [839, 1496],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1496, 1868],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1868, 2133],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1496],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1496, 1868],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1868, 2133],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000270.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1785,
|
| 6 |
+
"valid_duration": [0, 1785]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 525],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [525, 1197],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1197, 1417],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1417, 1785],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1197],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1197, 1417],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1417, 1785],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000330.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1977,
|
| 6 |
+
"valid_duration": [0, 1977]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 387],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [387, 1313],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1314, 1580],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1580, 1977],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1313],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1314, 1580],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1580, 1977],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000450.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1470,
|
| 6 |
+
"valid_duration": [30, 1500]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 398],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [399, 1017],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1018, 1240],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1240, 1500],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [30, 1017],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1018, 1240],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1240, 1500],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000480.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2052,
|
| 6 |
+
"valid_duration": [0, 2052]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 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": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [784, 1512],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1512, 1742],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1743, 2052],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1512],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1512, 1742],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1743, 2052],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000490.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2604,
|
| 6 |
+
"valid_duration": [0, 2604]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1065],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1109, 1882],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1882, 2225],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2226, 2604],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1882],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1882, 2225],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2226, 2604],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000550.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2053,
|
| 6 |
+
"valid_duration": [0, 2053]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 467],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [467, 1493],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1493, 1755],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1756, 2053],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1493],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1493, 1755],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1756, 2053],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000570.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2375,
|
| 6 |
+
"valid_duration": [40, 2415]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [40, 545],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [590, 1670],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1670, 1976],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1976, 2415],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [40, 1670],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1670, 1976],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1976, 2415],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000620.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2127,
|
| 6 |
+
"valid_duration": [36, 2163]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [36, 591],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [591, 1507],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1507, 1692],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1692, 2163],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [36, 1507],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1507, 1692],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1692, 2163],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000630.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1990,
|
| 6 |
+
"valid_duration": [0, 1990]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 657],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [658, 1535],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1535, 1727],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1729, 1990],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1535],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1535, 1727],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1729, 1990],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000640.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1866,
|
| 6 |
+
"valid_duration": [0, 1866]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 257],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [257, 1029],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1029, 1229],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1229, 1866],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1029],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1029, 1229],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1229, 1866],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000780.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2087,
|
| 6 |
+
"valid_duration": [0, 2087]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 441],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [441, 1266],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1266, 1555],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1555, 2087],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1266],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1266, 1555],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1555, 2087],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000800.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2008,
|
| 6 |
+
"valid_duration": [0, 2008]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 342],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [358, 1122],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1123, 1454],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1455, 2008],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1122],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1123, 1454],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1455, 2008],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000840.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2051,
|
| 6 |
+
"valid_duration": [0, 2051]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 408],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [409, 1294],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1303, 1586],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1586, 2051],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1294],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1303, 1586],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1586, 2051],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000900.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2118,
|
| 6 |
+
"valid_duration": [0, 2118]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 302],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [303, 1501],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1502, 1761],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1761, 2118],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1501],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1502, 1761],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1761, 2118],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00000940.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2462,
|
| 6 |
+
"valid_duration": [0, 2462]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 927],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1532, 1929],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1929, 2115],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2115, 2462],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1929],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1929, 2115],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2115, 2462],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001030.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2820,
|
| 6 |
+
"valid_duration": [0, 2820]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 469],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [470, 1530],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1530, 2186],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2186, 2820],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1530],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1530, 2186],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2186, 2820],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001100.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1935,
|
| 6 |
+
"valid_duration": [0, 1935]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 579],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [580, 1152],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1154, 1555],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1556, 1935],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1152],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1154, 1555],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1556, 1935],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001140.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3437,
|
| 6 |
+
"valid_duration": [0, 3437]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 594],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [594, 1997],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1997, 2573],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2573, 3437],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1997],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1997, 2573],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2573, 3437],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001160.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1534,
|
| 6 |
+
"valid_duration": [0, 1534]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 40],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [40, 1065],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1065, 1254],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1254, 1534],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1065],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1065, 1254],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1254, 1534],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001260.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1109,
|
| 6 |
+
"valid_duration": [0, 1109]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 339],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [340, 545],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [545, 866],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [867, 1109],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 545],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [545, 866],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [867, 1109],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001290.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1740,
|
| 6 |
+
"valid_duration": [0, 1740]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 359],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [362, 1145],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1145, 1414],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1414, 1740],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1145],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1145, 1414],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1414, 1740],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001320.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1509,
|
| 6 |
+
"valid_duration": [0, 1509]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 458],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [459, 935],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [936, 1095],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1096, 1509],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 935],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [936, 1095],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1096, 1509],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001340.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2405,
|
| 6 |
+
"valid_duration": [0, 2405]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 639],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [640, 1566],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1566, 1797],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1798, 2405],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1566],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1566, 1797],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1798, 2405],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001430.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2242,
|
| 6 |
+
"valid_duration": [0, 2242]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 799],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [800, 1528],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1528, 1797],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1797, 2242],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1528],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1528, 1797],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1797, 2242],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001470.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1061,
|
| 6 |
+
"valid_duration": [0, 1061]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 278],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [278, 618],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [618, 791],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [791, 1061],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 618],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [618, 791],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [791, 1061],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001510.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1552,
|
| 6 |
+
"valid_duration": [0, 1552]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 426],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [426, 934],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [934, 1152],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1152, 1552],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 934],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [934, 1152],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1152, 1552],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001550.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 931,
|
| 6 |
+
"valid_duration": [0, 931]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 151],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [151, 513],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [513, 646],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [646, 931],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 513],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [513, 646],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [646, 931],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001610.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1442,
|
| 6 |
+
"valid_duration": [0, 1442]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 611],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [611, 967],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [967, 1148],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1149, 1442],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 967],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [967, 1148],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1149, 1442],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001740.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1470,
|
| 6 |
+
"valid_duration": [0, 1470]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 638],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [638, 1009],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1009, 1175],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1175, 1470],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1009],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1009, 1175],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1175, 1470],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001790.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1165,
|
| 6 |
+
"valid_duration": [0, 1165]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 237],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [237, 655],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [655, 923],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [931, 1165],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 655],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [655, 923],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [931, 1165],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00001830.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1386,
|
| 6 |
+
"valid_duration": [0, 1386]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 405],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [406, 915],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [916, 1168],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1169, 1386],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 915],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [916, 1168],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1169, 1386],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002010.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3226,
|
| 6 |
+
"valid_duration": [0, 3226]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 644],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [644, 1826],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1828, 2499],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2499, 3226],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1826],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1828, 2499],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2499, 3226],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002050.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2421,
|
| 6 |
+
"valid_duration": [0, 2421]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 690],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [925, 1432],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1432, 2028],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2029, 2421],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1432],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1432, 2028],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2029, 2421],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002060.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3308,
|
| 6 |
+
"valid_duration": [0, 3308]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1424],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1473, 2094],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2094, 2599],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2599, 3308],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 2094],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [2094, 2599],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2599, 3308],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002070.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 3048,
|
| 6 |
+
"valid_duration": [0, 3048]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1057],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1057, 1955],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1955, 2503],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2503, 3048],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1955],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1955, 2503],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [2503, 3048],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002510.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1212,
|
| 6 |
+
"valid_duration": [30, 1242]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 147],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [147, 813],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [813, 982],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [982, 1242],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [30, 813],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [813, 982],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [982, 1242],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002520.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2003,
|
| 6 |
+
"valid_duration": [0, 2003]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1041],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1041, 1518],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1518, 1709],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1709, 2003],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1518],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1518, 1709],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1709, 2003],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002690.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1686,
|
| 6 |
+
"valid_duration": [0, 1686]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 480],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [480, 1100],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1100, 1218],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1218, 1686],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1100],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1100, 1218],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1218, 1686],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002720.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1272,
|
| 6 |
+
"valid_duration": [0, 1272]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 177],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [177, 551],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [551, 975],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [975, 1272],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 551],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [551, 975],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [975, 1272],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002740.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1191,
|
| 6 |
+
"valid_duration": [0, 1191]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 116],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [116, 603],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [604, 910],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [911, 1191],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 603],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [604, 910],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [911, 1191],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002970.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1465,
|
| 6 |
+
"valid_duration": [0, 1465]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 234],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [235, 907],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [907, 993],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [993, 1465],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 907],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [907, 993],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [993, 1465],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00002990.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 1680,
|
| 6 |
+
"valid_duration": [0, 1680]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 360],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [360, 1231],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1231, 1396],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1396, 1680],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1231],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1231, 1396],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1396, 1680],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0000/episode_00003000.json
ADDED
|
@@ -0,0 +1,93 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "turning on radio",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 2262,
|
| 6 |
+
"valid_duration": [0, 2262]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["radio_89"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 460],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 26 |
+
"manipulating_object_id": ["radio_89"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [461, 1713],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [67],
|
| 36 |
+
"skill_description": ["press"],
|
| 37 |
+
"object_id": [["radio_89"]],
|
| 38 |
+
"manipulating_object_id": ["radio_89"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1728, 1873],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["coordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [3],
|
| 48 |
+
"skill_description": ["place on"],
|
| 49 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 50 |
+
"manipulating_object_id": ["radio_89"],
|
| 51 |
+
"memory_prefix": ["back"],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [1873, 2262],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"primitive_annotation": [
|
| 59 |
+
{
|
| 60 |
+
"primitive_idx": 0,
|
| 61 |
+
"primitive_id": [2],
|
| 62 |
+
"primitive_description": ["pick up from"],
|
| 63 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 64 |
+
"manipulating_object_id": ["radio_89"],
|
| 65 |
+
"memory_prefix": [],
|
| 66 |
+
"spatial_prefix": [],
|
| 67 |
+
"frame_duration": [0, 1713],
|
| 68 |
+
"skill_idxes": [0, 1]
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"primitive_idx": 1,
|
| 72 |
+
"primitive_id": [67],
|
| 73 |
+
"primitive_description": ["press"],
|
| 74 |
+
"object_id": [["radio_89"]],
|
| 75 |
+
"manipulating_object_id": ["radio_89"],
|
| 76 |
+
"memory_prefix": [],
|
| 77 |
+
"spatial_prefix": [],
|
| 78 |
+
"frame_duration": [1728, 1873],
|
| 79 |
+
"skill_idxes": [2]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"primitive_idx": 2,
|
| 83 |
+
"primitive_id": [3],
|
| 84 |
+
"primitive_description": ["place on"],
|
| 85 |
+
"object_id": [["radio_89", "coffee_table_koagbh_0"]],
|
| 86 |
+
"manipulating_object_id": ["radio_89"],
|
| 87 |
+
"memory_prefix": ["back"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [1873, 2262],
|
| 90 |
+
"skill_idxes": [3]
|
| 91 |
+
}
|
| 92 |
+
]
|
| 93 |
+
}
|
annotations/task-0016/episode_00160010.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "moving boxes to storage",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14988,
|
| 6 |
+
"valid_duration": [0, 14988]
|
| 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, 442],
|
| 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": [447, 1692],
|
| 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": [1692, 3261],
|
| 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": [3351, 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": [4157, 6693],
|
| 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": [6754, 7691],
|
| 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": [7691, 9869],
|
| 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": [9870, 11426],
|
| 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": [11427, 14154],
|
| 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": [14184, 14988],
|
| 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, 1692],
|
| 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": [1692, 7691],
|
| 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": [7691, 14988],
|
| 162 |
+
"skill_idxes": [6, 7, 8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|