diff --git "a/house_train_160/episode_resident_sim_1771164070892.spamem_full_data.json" "b/house_train_160/episode_resident_sim_1771164070892.spamem_full_data.json" new file mode 100644--- /dev/null +++ "b/house_train_160/episode_resident_sim_1771164070892.spamem_full_data.json" @@ -0,0 +1,98274 @@ +{ + "episode_id": "episode_resident_sim_1771164070892", + "house_info": "house_train_160", + "actions": { + "action0": { + "steps": { + "place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0": { + "status": "pre-place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang0_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "TVStand|2|3|0", + "relation": "supports", + "room": "room0", + "members": [ + "CreditCard|surface|2|40", + "RemoteControl|surface|2|35", + "Television|2|3|1" + ], + "bounding_boxes": [ + [ + 0, + 62, + 10, + 66 + ], + [ + 0, + 47, + 6, + 51 + ], + [ + 0, + 37, + 15, + 58 + ] + ], + "distances_to_camera": [ + 4.8, + 5.189, + 4.93 + ], + "positions_3d": [ + [ + 0.477, + 0.399, + 5.85 + ], + [ + 0.086, + 0.4, + 5.85 + ], + [ + 0.32, + 0.886, + 5.692 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CreditCard|surface|2|40", + "Television|2|3|1", + "RemoteControl|surface|2|35" + ], + "Q2_rel": { + "CreditCard|surface|2|40": [ + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "back", + "distance_3d": 0.536 + } + ], + "RemoteControl|surface|2|35": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "front", + "distance_3d": 0.562 + } + ], + "Television|2|3|1": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.536 + }, + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.562 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang135_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 712, + 68, + 757, + 100 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 758, + 53, + 799, + 67 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19" + ], + "bounding_boxes": [ + [ + 794, + 0, + 799, + 3 + ] + ], + "distances_to_camera": [ + 5.898 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 785, + 12, + 799, + 21 + ], + [ + 723, + 0, + 766, + 21 + ], + [ + 774, + 19, + 786, + 21 + ], + [ + 719, + 0, + 733, + 20 + ] + ], + "distances_to_camera": [ + 5.898, + 6.3, + 6.315, + 6.557 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.438 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 587, + 24, + 588, + 27 + ], + [ + 550, + 0, + 649, + 30 + ] + ], + "distances_to_camera": [ + 7.21, + 7.057 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 228, + 120, + 336 + ], + [ + 91, + 257, + 299, + 380 + ] + ], + "distances_to_camera": [ + 1.473, + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 86, + 189, + 280 + ] + ], + "distances_to_camera": [ + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1" + ], + "Q2_rel": { + "Pillow|2|2|1": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang315_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang45_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 184, + 22, + 202, + 31 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 776, + 130, + 799, + 160 + ] + ], + "distances_to_camera": [ + 2.598 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step0/meta/pre_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 183, + 43, + 202, + 47 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + } + ] + }, + "place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1": { + "status": "post-place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 390, + 211, + 405, + 217 + ] + ], + "distances_to_camera": [ + 1.391 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 388, + 211, + 415, + 231 + ] + ], + "distances_to_camera": [ + 1.43 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "TVStand|2|3|0", + "relation": "supports", + "room": "room0", + "members": [ + "CreditCard|surface|2|40", + "RemoteControl|surface|2|35", + "Television|2|3|1" + ], + "bounding_boxes": [ + [ + 0, + 62, + 10, + 66 + ], + [ + 0, + 47, + 6, + 51 + ], + [ + 0, + 37, + 15, + 58 + ] + ], + "distances_to_camera": [ + 4.8, + 5.189, + 4.93 + ], + "positions_3d": [ + [ + 0.477, + 0.399, + 5.85 + ], + [ + 0.086, + 0.4, + 5.85 + ], + [ + 0.32, + 0.886, + 5.692 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CreditCard|surface|2|40", + "Television|2|3|1", + "RemoteControl|surface|2|35" + ], + "Q2_rel": { + "CreditCard|surface|2|40": [ + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "back", + "distance_3d": 0.536 + } + ], + "RemoteControl|surface|2|35": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "front", + "distance_3d": 0.562 + } + ], + "Television|2|3|1": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.536 + }, + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.562 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang135_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 394, + 211, + 409, + 218 + ] + ], + "distances_to_camera": [ + 1.372 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 712, + 68, + 757, + 100 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 758, + 53, + 799, + 67 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19" + ], + "bounding_boxes": [ + [ + 794, + 0, + 799, + 3 + ] + ], + "distances_to_camera": [ + 5.898 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 785, + 12, + 799, + 21 + ], + [ + 723, + 0, + 766, + 21 + ], + [ + 774, + 19, + 786, + 21 + ], + [ + 719, + 0, + 733, + 20 + ] + ], + "distances_to_camera": [ + 5.898, + 6.3, + 6.315, + 6.557 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.438 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 587, + 24, + 588, + 27 + ], + [ + 550, + 0, + 649, + 30 + ] + ], + "distances_to_camera": [ + 7.21, + 7.057 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 228, + 120, + 336 + ], + [ + 91, + 257, + 299, + 380 + ] + ], + "distances_to_camera": [ + 1.473, + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 86, + 189, + 280 + ] + ], + "distances_to_camera": [ + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1" + ], + "Q2_rel": { + "Pillow|2|2|1": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 392, + 211, + 407, + 217 + ] + ], + "distances_to_camera": [ + 1.395 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 383, + 213, + 416, + 238 + ] + ], + "distances_to_camera": [ + 1.282 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang45_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 375, + 150, + 398, + 169 + ] + ], + "distances_to_camera": [ + 1.282 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 385, + 216, + 415, + 227 + ] + ], + "distances_to_camera": [ + 1.473 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 184, + 22, + 202, + 31 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 776, + 130, + 799, + 160 + ] + ], + "distances_to_camera": [ + 2.598 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action0/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164087616_step1/meta/post_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 380, + 164, + 420, + 173 + ] + ], + "distances_to_camera": [ + 1.473 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 183, + 43, + 202, + 47 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + } + ] + } + } + }, + "action1": { + "steps": { + "place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2": { + "status": "pre-place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 523, + 182, + 596, + 225 + ], + [ + 356, + 268, + 475, + 368 + ], + [ + 227, + 132, + 327, + 182 + ], + [ + 319, + 109, + 400, + 149 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 0, + 354, + 69, + 423 + ], + [ + 67, + 206, + 134, + 255 + ], + [ + 0, + 412, + 65, + 517 + ], + [ + 0, + 420, + 7, + 436 + ] + ], + "distances_to_camera": [ + 1.379, + 1.932, + 1.252, + 1.441 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "front-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "back", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front-right", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 630, + 137, + 687, + 163 + ], + [ + 728, + 157, + 766, + 173 + ], + [ + 723, + 138, + 759, + 152 + ] + ], + "distances_to_camera": [ + 3.662, + 3.869, + 4.323 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang0_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 553, + 135, + 640, + 156 + ], + [ + 331, + 125, + 522, + 255 + ], + [ + 200, + 103, + 318, + 136 + ], + [ + 312, + 98, + 400, + 124 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 114, + 52, + 182 + ] + ], + "distances_to_camera": [ + 1.932 + ], + "positions_3d": [ + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "BasketBall|surface|2|46": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 646, + 137, + 709, + 152 + ], + [ + 760, + 148, + 799, + 157 + ], + [ + 749, + 139, + 783, + 146 + ] + ], + "distances_to_camera": [ + 3.662, + 3.869, + 4.323 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 162, + 167, + 257, + 226 + ], + [ + 329, + 64, + 399, + 120 + ], + [ + 530, + 159, + 641, + 255 + ], + [ + 451, + 239, + 600, + 397 + ] + ], + "distances_to_camera": [ + 1.604, + 2.28, + 1.444, + 0.762 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2", + "Book|surface|2|28", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 511, + 56, + 539, + 86 + ], + [ + 591, + 86, + 636, + 130 + ], + [ + 481, + 57, + 516, + 78 + ], + [ + 536, + 75, + 542, + 80 + ] + ], + "distances_to_camera": [ + 2.996, + 2.485, + 3.191, + 3.12 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "front-right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 70, + 96, + 210, + 130 + ], + [ + 319, + 32, + 399, + 78 + ], + [ + 597, + 66, + 750, + 120 + ], + [ + 506, + 104, + 799, + 286 + ] + ], + "distances_to_camera": [ + 1.604, + 2.28, + 1.444, + 0.762 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2", + "Book|surface|2|28", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 519, + 45, + 548, + 74 + ], + [ + 620, + 38, + 675, + 71 + ], + [ + 486, + 60, + 520, + 71 + ], + [ + 545, + 68, + 552, + 71 + ] + ], + "distances_to_camera": [ + 2.996, + 2.485, + 3.191, + 3.12 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "front-right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 161, + 243, + 260, + 316 + ], + [ + 245, + 90, + 318, + 138 + ], + [ + 506, + 109, + 593, + 180 + ], + [ + 533, + 179, + 659, + 289 + ] + ], + "distances_to_camera": [ + 1.093, + 2.102, + 1.868, + 1.279 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Pillow|2|2|1", + "Pillow|2|2|2", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 387, + 44, + 406, + 70 + ], + [ + 475, + 50, + 507, + 88 + ], + [ + 354, + 52, + 384, + 68 + ], + [ + 385, + 59, + 409, + 63 + ] + ], + "distances_to_camera": [ + 3.132, + 2.81, + 3.275, + 3.262 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 138, + 187, + 201 + ], + [ + 214, + 38, + 306, + 86 + ], + [ + 526, + 53, + 654, + 102 + ], + [ + 584, + 77, + 799, + 171 + ] + ], + "distances_to_camera": [ + 1.093, + 2.102, + 1.868, + 1.279 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Pillow|2|2|1", + "Pillow|2|2|2", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 387, + 43, + 406, + 68 + ], + [ + 480, + 32, + 515, + 75 + ], + [ + 352, + 59, + 384, + 68 + ], + [ + 384, + 63, + 409, + 66 + ] + ], + "distances_to_camera": [ + 3.132, + 2.81, + 3.275, + 3.262 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 300, + 289, + 419, + 399 + ], + [ + 157, + 143, + 266, + 220 + ], + [ + 409, + 90, + 499, + 139 + ], + [ + 487, + 122, + 603, + 185 + ] + ], + "distances_to_camera": [ + 0.62, + 1.734, + 2.302, + 1.948 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 231, + 81, + 261, + 109 + ], + [ + 332, + 62, + 360, + 96 + ], + [ + 189, + 95, + 236, + 119 + ], + [ + 229, + 100, + 235, + 104 + ] + ], + "distances_to_camera": [ + 3.031, + 2.984, + 3.092, + 3.155 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 220, + 177, + 438, + 300 + ], + [ + 79, + 68, + 229, + 138 + ], + [ + 410, + 68, + 513, + 100 + ], + [ + 503, + 76, + 652, + 118 + ] + ], + "distances_to_camera": [ + 0.62, + 1.734, + 2.302, + 1.948 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 219, + 70, + 250, + 97 + ], + [ + 328, + 55, + 358, + 92 + ], + [ + 211, + 90, + 222, + 98 + ], + [ + 220, + 92, + 224, + 95 + ] + ], + "distances_to_camera": [ + 3.031, + 2.984, + 3.092, + 3.155 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 487, + 272, + 595, + 329 + ], + [ + 170, + 222, + 285, + 329 + ], + [ + 311, + 97, + 400, + 133 + ], + [ + 412, + 99, + 503, + 136 + ] + ], + "distances_to_camera": [ + 0.946, + 1.059, + 2.342, + 2.317 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 51, + 166, + 111, + 201 + ], + [ + 182, + 100, + 223, + 139 + ], + [ + 0, + 201, + 81, + 236 + ], + [ + 52, + 194, + 68, + 201 + ] + ], + "distances_to_camera": [ + 2.377, + 2.62, + 2.35, + 2.48 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "front-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 534, + 167, + 752, + 217 + ], + [ + 0, + 90, + 232, + 216 + ], + [ + 300, + 72, + 401, + 101 + ], + [ + 414, + 72, + 517, + 102 + ] + ], + "distances_to_camera": [ + 0.946, + 1.059, + 2.342, + 2.317 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 98, + 22, + 141 + ], + [ + 154, + 65, + 201, + 111 + ] + ], + "distances_to_camera": [ + 2.377, + 2.62 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 523, + 182, + 596, + 225 + ], + [ + 356, + 268, + 475, + 368 + ], + [ + 227, + 132, + 327, + 182 + ], + [ + 319, + 109, + 400, + 149 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 0, + 354, + 69, + 423 + ], + [ + 67, + 206, + 134, + 255 + ], + [ + 0, + 412, + 65, + 517 + ], + [ + 0, + 420, + 7, + 436 + ] + ], + "distances_to_camera": [ + 1.379, + 1.932, + 1.252, + 1.441 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "front-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "back", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front-right", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 630, + 137, + 687, + 163 + ], + [ + 728, + 157, + 766, + 173 + ], + [ + 723, + 138, + 759, + 152 + ] + ], + "distances_to_camera": [ + 3.662, + 3.869, + 4.323 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang315_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 553, + 135, + 640, + 156 + ], + [ + 331, + 125, + 522, + 255 + ], + [ + 200, + 103, + 318, + 136 + ], + [ + 312, + 98, + 400, + 124 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 114, + 52, + 182 + ] + ], + "distances_to_camera": [ + 1.932 + ], + "positions_3d": [ + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "BasketBall|surface|2|46": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 646, + 137, + 709, + 152 + ], + [ + 760, + 148, + 799, + 157 + ], + [ + 749, + 139, + 783, + 146 + ] + ], + "distances_to_camera": [ + 3.662, + 3.869, + 4.323 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 26, + 453, + 57, + 481 + ] + ], + "distances_to_camera": [ + 1.395 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 26, + 453, + 57, + 481 + ] + ], + "distances_to_camera": [ + 1.395 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step2/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3": { + "status": "post-place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 523, + 182, + 596, + 225 + ], + [ + 383, + 184, + 412, + 199 + ], + [ + 356, + 268, + 475, + 368 + ], + [ + 227, + 132, + 327, + 182 + ], + [ + 319, + 109, + 400, + 149 + ] + ], + "distances_to_camera": [ + 1.846, + 1.714, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "CellPhone|surface|2|50", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 0, + 354, + 69, + 423 + ], + [ + 67, + 206, + 134, + 255 + ], + [ + 0, + 412, + 65, + 517 + ], + [ + 0, + 420, + 7, + 436 + ] + ], + "distances_to_camera": [ + 1.379, + 1.932, + 1.252, + 1.441 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "front-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "back", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front-right", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 630, + 137, + 687, + 163 + ], + [ + 728, + 157, + 766, + 173 + ], + [ + 723, + 138, + 759, + 152 + ] + ], + "distances_to_camera": [ + 3.662, + 3.869, + 4.323 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang0_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 553, + 135, + 640, + 156 + ], + [ + 331, + 125, + 522, + 255 + ], + [ + 200, + 103, + 318, + 136 + ], + [ + 312, + 98, + 400, + 124 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 114, + 52, + 182 + ] + ], + "distances_to_camera": [ + 1.932 + ], + "positions_3d": [ + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "BasketBall|surface|2|46": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 646, + 137, + 709, + 152 + ], + [ + 760, + 148, + 799, + 157 + ], + [ + 749, + 139, + 783, + 146 + ] + ], + "distances_to_camera": [ + 3.662, + 3.869, + 4.323 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 162, + 167, + 257, + 226 + ], + [ + 385, + 175, + 417, + 199 + ], + [ + 329, + 64, + 399, + 120 + ], + [ + 530, + 159, + 641, + 255 + ], + [ + 451, + 239, + 600, + 397 + ] + ], + "distances_to_camera": [ + 1.604, + 1.363, + 2.28, + 1.444, + 0.762 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "CellPhone|surface|2|50", + "Pillow|2|2|2", + "Book|surface|2|28", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 511, + 56, + 539, + 86 + ], + [ + 591, + 86, + 636, + 130 + ], + [ + 481, + 57, + 516, + 78 + ], + [ + 536, + 75, + 542, + 80 + ] + ], + "distances_to_camera": [ + 2.996, + 2.485, + 3.191, + 3.12 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "front-right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 70, + 96, + 210, + 130 + ], + [ + 379, + 101, + 423, + 115 + ], + [ + 319, + 32, + 399, + 78 + ], + [ + 597, + 66, + 750, + 120 + ], + [ + 506, + 104, + 799, + 286 + ] + ], + "distances_to_camera": [ + 1.604, + 1.363, + 2.28, + 1.444, + 0.762 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "CellPhone|surface|2|50", + "Pillow|2|2|2", + "Book|surface|2|28", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 519, + 45, + 548, + 74 + ], + [ + 620, + 38, + 675, + 71 + ], + [ + 486, + 60, + 520, + 71 + ], + [ + 545, + 68, + 552, + 71 + ] + ], + "distances_to_camera": [ + 2.996, + 2.485, + 3.191, + 3.12 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "front-right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 161, + 243, + 260, + 316 + ], + [ + 391, + 176, + 408, + 198 + ], + [ + 245, + 90, + 318, + 138 + ], + [ + 506, + 109, + 593, + 180 + ], + [ + 533, + 179, + 659, + 289 + ] + ], + "distances_to_camera": [ + 1.093, + 1.373, + 2.102, + 1.868, + 1.279 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Pillow|2|2|1", + "CellPhone|surface|2|50", + "Pillow|2|2|2", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 387, + 44, + 406, + 70 + ], + [ + 475, + 50, + 507, + 88 + ], + [ + 354, + 52, + 384, + 68 + ], + [ + 385, + 59, + 409, + 63 + ] + ], + "distances_to_camera": [ + 3.132, + 2.81, + 3.275, + 3.262 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 138, + 187, + 201 + ], + [ + 388, + 102, + 411, + 115 + ], + [ + 214, + 38, + 306, + 86 + ], + [ + 526, + 53, + 654, + 102 + ], + [ + 584, + 77, + 799, + 171 + ] + ], + "distances_to_camera": [ + 1.093, + 1.373, + 2.102, + 1.868, + 1.279 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Pillow|2|2|1", + "CellPhone|surface|2|50", + "Pillow|2|2|2", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 387, + 43, + 406, + 68 + ], + [ + 480, + 32, + 515, + 75 + ], + [ + 352, + 59, + 384, + 68 + ], + [ + 384, + 63, + 409, + 66 + ] + ], + "distances_to_camera": [ + 3.132, + 2.81, + 3.275, + 3.262 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 300, + 289, + 419, + 399 + ], + [ + 382, + 177, + 414, + 197 + ], + [ + 157, + 143, + 266, + 220 + ], + [ + 409, + 90, + 499, + 139 + ], + [ + 487, + 122, + 603, + 185 + ] + ], + "distances_to_camera": [ + 0.62, + 1.499, + 1.734, + 2.302, + 1.948 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 231, + 81, + 261, + 109 + ], + [ + 332, + 62, + 360, + 96 + ], + [ + 189, + 95, + 236, + 119 + ], + [ + 229, + 100, + 235, + 104 + ] + ], + "distances_to_camera": [ + 3.031, + 2.984, + 3.092, + 3.155 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 220, + 177, + 438, + 300 + ], + [ + 377, + 115, + 419, + 126 + ], + [ + 79, + 68, + 229, + 138 + ], + [ + 410, + 68, + 513, + 100 + ], + [ + 503, + 76, + 652, + 118 + ] + ], + "distances_to_camera": [ + 0.62, + 1.499, + 1.734, + 2.302, + 1.948 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 219, + 70, + 250, + 97 + ], + [ + 328, + 55, + 358, + 92 + ], + [ + 211, + 90, + 222, + 98 + ], + [ + 220, + 92, + 224, + 95 + ] + ], + "distances_to_camera": [ + 3.031, + 2.984, + 3.092, + 3.155 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 487, + 272, + 595, + 329 + ], + [ + 381, + 183, + 413, + 193 + ], + [ + 170, + 222, + 285, + 329 + ], + [ + 311, + 97, + 400, + 133 + ], + [ + 412, + 99, + 503, + 136 + ] + ], + "distances_to_camera": [ + 0.946, + 1.514, + 1.059, + 2.342, + 2.317 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "CellPhone|surface|2|50", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 51, + 166, + 111, + 201 + ], + [ + 182, + 100, + 223, + 139 + ], + [ + 0, + 201, + 81, + 236 + ], + [ + 52, + 194, + 68, + 201 + ] + ], + "distances_to_camera": [ + 2.377, + 2.62, + 2.35, + 2.48 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "front-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 534, + 167, + 752, + 217 + ], + [ + 375, + 120, + 417, + 126 + ], + [ + 0, + 90, + 232, + 216 + ], + [ + 300, + 72, + 401, + 101 + ], + [ + 414, + 72, + 517, + 102 + ] + ], + "distances_to_camera": [ + 0.946, + 1.514, + 1.059, + 2.342, + 2.317 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "CellPhone|surface|2|50", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 98, + 22, + 141 + ], + [ + 154, + 65, + 201, + 111 + ] + ], + "distances_to_camera": [ + 2.377, + 2.62 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "CellPhone|surface|2|50", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 523, + 182, + 596, + 225 + ], + [ + 383, + 184, + 412, + 199 + ], + [ + 356, + 268, + 475, + 368 + ], + [ + 227, + 132, + 327, + 182 + ], + [ + 319, + 109, + 400, + 149 + ] + ], + "distances_to_camera": [ + 1.846, + 1.714, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 0.625, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "CellPhone|surface|2|50", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.877 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 0.949 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 0.95 + } + ], + "Laptop|surface|2|29": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.95 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.877 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.887 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47", + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 0, + 354, + 69, + 423 + ], + [ + 67, + 206, + 134, + 255 + ], + [ + 0, + 412, + 65, + 517 + ], + [ + 0, + 420, + 7, + 436 + ] + ], + "distances_to_camera": [ + 1.379, + 1.932, + 1.252, + 1.441 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ], + [ + 2.686, + 0.557, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "RemoteControl|surface|2|33", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "RemoteControl|surface|2|33", + "direction": "front-left", + "distance_3d": 0.896 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "RemoteControl|surface|2|33", + "direction": "back-left", + "distance_3d": 0.239 + }, + { + "object": "AlarmClock|surface|2|32", + "direction": "back", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ], + "RemoteControl|surface|2|33": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.13 + }, + { + "object": "Book|surface|2|47", + "direction": "front-right", + "distance_3d": 0.239 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.896 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 630, + 137, + 687, + 163 + ], + [ + 728, + 157, + 766, + 173 + ], + [ + 723, + 138, + 759, + 152 + ] + ], + "distances_to_camera": [ + 3.662, + 3.869, + 4.323 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang315_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 553, + 135, + 640, + 156 + ], + [ + 331, + 125, + 522, + 255 + ], + [ + 200, + 103, + 318, + 136 + ], + [ + 312, + 98, + 400, + 124 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 114, + 52, + 182 + ] + ], + "distances_to_camera": [ + 1.932 + ], + "positions_3d": [ + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "BasketBall|surface|2|46": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 646, + 137, + 709, + 152 + ], + [ + 760, + 148, + 799, + 157 + ], + [ + 749, + 139, + 783, + 146 + ] + ], + "distances_to_camera": [ + 3.662, + 3.869, + 4.323 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang45_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang90_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action1/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Bed|2|2|0_1771164099851_step3/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action10": { + "steps": { + "spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20": { + "status": "pre-spawn_Tomato_10_in_DiningTable|7|1_1771164234790", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 350, + 116, + 368, + 151 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 406, + 47, + 451, + 82 + ], + [ + 364, + 75, + 508, + 204 + ], + [ + 376, + 79, + 412, + 94 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ], + [ + 327, + 127, + 347, + 137 + ] + ], + "distances_to_camera": [ + 1.021, + 1.181, + 1.51, + 0.851, + 1.091, + 1.324, + 0.695, + 0.944, + 1.117 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 426, + 103, + 458, + 136 + ], + [ + 313, + 0, + 350, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 112 + ], + [ + 368, + 77, + 429, + 162 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 457, + 114, + 470, + 128 + ], + [ + 451, + 148, + 474, + 163 + ] + ], + "distances_to_camera": [ + 0.99, + 1.061, + 0.716, + 1.198, + 0.966, + 0.797, + 0.68, + 1.31, + 1.06, + 0.884 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 421, + 98, + 447, + 127 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 378, + 82, + 422, + 151 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 447, + 109, + 453, + 119 + ], + [ + 449, + 131, + 468, + 144 + ] + ], + "distances_to_camera": [ + 1.244, + 1.222, + 0.833, + 1.44, + 1.187, + 0.98, + 0.951, + 1.588, + 1.324, + 1.159 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 409, + 90, + 429, + 106 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 368, + 84, + 432, + 152 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ], + [ + 442, + 110, + 457, + 122 + ] + ], + "distances_to_camera": [ + 1.334, + 1.11, + 0.786, + 1.463, + 1.209, + 0.99, + 1.174, + 1.68, + 1.329 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bread|surface|7|0", + "Watch|surface|7|21", + "Apple|surface|6|10", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.148 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 381, + 90, + 393, + 93 + ], + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 371, + 93, + 429, + 144 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 428, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.399, + 1.081, + 1.142, + 1.374, + 1.266, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 291, + 69, + 430, + 206 + ], + [ + 395, + 82, + 435, + 132 + ], + [ + 434, + 106, + 473, + 131 + ], + [ + 377, + 68, + 443, + 92 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.039, + 1.117, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Bread|surface|7|0", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.393 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ], + [ + 314, + 137, + 338, + 150 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694, + 0.868 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ], + [ + 314, + 137, + 338, + 150 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694, + 0.868 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step20/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21": { + "status": "post-spawn_Tomato_10_in_DiningTable|7|1_1771164234790", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 350, + 116, + 368, + 151 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 406, + 47, + 451, + 82 + ], + [ + 364, + 75, + 508, + 204 + ], + [ + 376, + 79, + 412, + 94 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 327, + 127, + 347, + 137 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.021, + 1.181, + 1.51, + 0.851, + 1.091, + 1.324, + 0.695, + 1.117, + 0.944 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 426, + 103, + 458, + 136 + ], + [ + 313, + 0, + 350, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 112 + ], + [ + 368, + 77, + 429, + 162 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 451, + 148, + 474, + 163 + ], + [ + 457, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.99, + 1.061, + 0.716, + 1.198, + 0.966, + 0.797, + 0.68, + 1.31, + 0.884, + 1.06 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 421, + 98, + 447, + 127 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 378, + 82, + 422, + 151 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 449, + 131, + 468, + 144 + ], + [ + 447, + 109, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.244, + 1.222, + 0.833, + 1.44, + 1.187, + 0.98, + 0.951, + 1.588, + 1.159, + 1.324 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 409, + 90, + 429, + 106 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 368, + 84, + 432, + 152 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ], + [ + 442, + 110, + 457, + 122 + ] + ], + "distances_to_camera": [ + 1.334, + 1.11, + 0.786, + 1.463, + 1.209, + 0.99, + 1.174, + 1.68, + 1.329 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bread|surface|7|0", + "Watch|surface|7|21", + "Apple|surface|6|10", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.148 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 381, + 90, + 393, + 93 + ], + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 371, + 93, + 429, + 144 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 428, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.399, + 1.081, + 1.142, + 1.374, + 1.266, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 291, + 69, + 430, + 206 + ], + [ + 395, + 82, + 435, + 132 + ], + [ + 434, + 106, + 473, + 131 + ], + [ + 377, + 68, + 443, + 92 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.039, + 1.117, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Bread|surface|7|0", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.393 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 314, + 137, + 338, + 150 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.868, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 314, + 137, + 338, + 150 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.868, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action10/spawn_Tomato_10_in_DiningTable|7|1_1771164234790_step21/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action11": { + "steps": { + "place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22": { + "status": "pre-place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 350, + 116, + 368, + 151 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 406, + 47, + 451, + 82 + ], + [ + 364, + 75, + 508, + 204 + ], + [ + 376, + 79, + 412, + 94 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 327, + 127, + 347, + 137 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.021, + 1.181, + 1.51, + 0.851, + 1.091, + 1.324, + 0.695, + 1.117, + 0.944 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 426, + 103, + 458, + 136 + ], + [ + 313, + 0, + 350, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 112 + ], + [ + 368, + 77, + 429, + 162 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 451, + 148, + 474, + 163 + ], + [ + 457, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.99, + 1.061, + 0.716, + 1.198, + 0.966, + 0.797, + 0.68, + 1.31, + 0.884, + 1.06 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 421, + 98, + 447, + 127 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 378, + 82, + 422, + 151 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 449, + 131, + 468, + 144 + ], + [ + 447, + 109, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.244, + 1.222, + 0.833, + 1.44, + 1.187, + 0.98, + 0.951, + 1.588, + 1.159, + 1.324 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 409, + 90, + 429, + 106 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 368, + 84, + 432, + 152 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ], + [ + 442, + 110, + 457, + 122 + ] + ], + "distances_to_camera": [ + 1.334, + 1.11, + 0.786, + 1.463, + 1.209, + 0.99, + 1.174, + 1.68, + 1.329 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bread|surface|7|0", + "Watch|surface|7|21", + "Apple|surface|6|10", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.148 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 381, + 90, + 393, + 93 + ], + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 371, + 93, + 429, + 144 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 428, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.399, + 1.081, + 1.142, + 1.374, + 1.266, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 291, + 69, + 430, + 206 + ], + [ + 395, + 82, + 435, + 132 + ], + [ + 434, + 106, + 473, + 131 + ], + [ + 377, + 68, + 443, + 92 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.039, + 1.117, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Bread|surface|7|0", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.393 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 314, + 137, + 338, + 150 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.868, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 314, + 137, + 338, + 150 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.868, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step22/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23": { + "status": "post-place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 387, + 50, + 444, + 91 + ] + ], + "distances_to_camera": [ + 1.121 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 341, + 110, + 367, + 141 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 414, + 47, + 451, + 75 + ], + [ + 364, + 74, + 508, + 203 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 328, + 127, + 341, + 137 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.081, + 1.181, + 1.51, + 0.852, + 1.324, + 0.695, + 1.117, + 0.944 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 340, + 56, + 409, + 139 + ], + [ + 376, + 119, + 413, + 154 + ] + ], + "distances_to_camera": [ + 0.988, + 0.917 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Tomato|surface|7|0", + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 429, + 119, + 463, + 152 + ], + [ + 313, + 0, + 346, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 6, + 458, + 118 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 451, + 148, + 474, + 163 + ], + [ + 449, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.925, + 1.061, + 0.716, + 1.197, + 0.797, + 0.68, + 1.31, + 0.884, + 1.06 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.252 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 355, + 66, + 406, + 136 + ], + [ + 383, + 116, + 415, + 146 + ] + ], + "distances_to_camera": [ + 1.186, + 1.135 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Tomato|surface|7|0", + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 427, + 109, + 455, + 138 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 449, + 131, + 468, + 144 + ], + [ + 441, + 108, + 453, + 113 + ] + ], + "distances_to_camera": [ + 1.185, + 1.222, + 0.833, + 1.439, + 0.98, + 0.951, + 1.588, + 1.159, + 1.324 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 353, + 76, + 424, + 143 + ], + [ + 398, + 120, + 423, + 145 + ] + ], + "distances_to_camera": [ + 1.158, + 1.165 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "right", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 422, + 96, + 444, + 123 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 295, + 30, + 403, + 142 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ], + [ + 442, + 110, + 457, + 122 + ], + [ + 420, + 98, + 422, + 103 + ] + ], + "distances_to_camera": [ + 1.305, + 1.11, + 0.786, + 1.462, + 0.99, + 1.174, + 1.68, + 1.329, + 1.424 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Watch|surface|7|21", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 370, + 78, + 437, + 145 + ], + [ + 413, + 138, + 419, + 139 + ] + ], + "distances_to_camera": [ + 1.189, + 1.264 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "back", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 434, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.081, + 1.142, + 1.373, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.392 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.315 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.315 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 397, + 62, + 448, + 136 + ] + ], + "distances_to_camera": [ + 1.072 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 292, + 69, + 431, + 206 + ], + [ + 436, + 106, + 473, + 131 + ], + [ + 377, + 68, + 416, + 91 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.04, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.392 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.315 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.315 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 383, + 43, + 455, + 106 + ], + [ + 380, + 104, + 389, + 109 + ] + ], + "distances_to_camera": [ + 0.886, + 0.899 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 332, + 119, + 363, + 156 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 62 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 314, + 137, + 331, + 150 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.832, + 0.961, + 1.274, + 0.614, + 1.074, + 0.447, + 0.868, + 0.694 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 8 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 383, + 43, + 455, + 106 + ], + [ + 380, + 104, + 389, + 109 + ] + ], + "distances_to_camera": [ + 0.886, + 0.899 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 332, + 119, + 363, + 156 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 62 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 314, + 137, + 331, + 150 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.832, + 0.961, + 1.274, + 0.614, + 1.074, + 0.447, + 0.868, + 0.694 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 8 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action11/place_Cup|surface|6|12_from_ArmChair|7|4|0_to_DiningTable|7|1_1771164248456_step23/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action12": { + "steps": { + "spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24": { + "status": "pre-spawn_Apple_17_in_DiningTable|7|1_1771164269849", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 387, + 50, + 444, + 91 + ] + ], + "distances_to_camera": [ + 1.121 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 341, + 110, + 367, + 141 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 414, + 47, + 451, + 75 + ], + [ + 364, + 74, + 508, + 203 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 328, + 127, + 341, + 137 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.081, + 1.181, + 1.51, + 0.852, + 1.324, + 0.695, + 1.117, + 0.944 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 340, + 56, + 409, + 139 + ], + [ + 376, + 119, + 413, + 154 + ] + ], + "distances_to_camera": [ + 0.988, + 0.917 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Tomato|surface|7|0", + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 429, + 119, + 463, + 152 + ], + [ + 313, + 0, + 346, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 6, + 458, + 118 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 451, + 148, + 474, + 163 + ], + [ + 449, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.925, + 1.061, + 0.716, + 1.197, + 0.797, + 0.68, + 1.31, + 0.884, + 1.06 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.252 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 355, + 66, + 406, + 136 + ], + [ + 383, + 116, + 415, + 146 + ] + ], + "distances_to_camera": [ + 1.186, + 1.135 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Tomato|surface|7|0", + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 427, + 109, + 455, + 138 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 449, + 131, + 468, + 144 + ], + [ + 441, + 108, + 453, + 113 + ] + ], + "distances_to_camera": [ + 1.185, + 1.222, + 0.833, + 1.439, + 0.98, + 0.951, + 1.588, + 1.159, + 1.324 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 353, + 76, + 424, + 143 + ], + [ + 398, + 120, + 423, + 145 + ] + ], + "distances_to_camera": [ + 1.158, + 1.165 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "right", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 422, + 96, + 444, + 123 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 295, + 30, + 403, + 142 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ], + [ + 442, + 110, + 457, + 122 + ], + [ + 420, + 98, + 422, + 103 + ] + ], + "distances_to_camera": [ + 1.305, + 1.11, + 0.786, + 1.462, + 0.99, + 1.174, + 1.68, + 1.329, + 1.424 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Watch|surface|7|21", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 370, + 78, + 437, + 145 + ], + [ + 413, + 138, + 419, + 139 + ] + ], + "distances_to_camera": [ + 1.189, + 1.264 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "back", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 434, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.081, + 1.142, + 1.373, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.392 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.315 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.315 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 397, + 62, + 448, + 136 + ] + ], + "distances_to_camera": [ + 1.072 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 292, + 69, + 431, + 206 + ], + [ + 436, + 106, + 473, + 131 + ], + [ + 377, + 68, + 416, + 91 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.04, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.392 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.315 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.392 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.525 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.525 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.315 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 383, + 43, + 455, + 106 + ], + [ + 380, + 104, + 389, + 109 + ] + ], + "distances_to_camera": [ + 0.886, + 0.899 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 332, + 119, + 363, + 156 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 62 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 314, + 137, + 331, + 150 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.832, + 0.961, + 1.274, + 0.614, + 1.074, + 0.447, + 0.868, + 0.694 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 8 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "bounding_boxes": [ + [ + 383, + 43, + 455, + 106 + ], + [ + 380, + 104, + 389, + 109 + ] + ], + "distances_to_camera": [ + 0.886, + 0.899 + ], + "positions_3d": [ + [ + 9.432, + 1.007, + 6.93 + ], + [ + 9.509, + 0.908, + 6.884 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Tomato|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.134 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.134 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 332, + 119, + 363, + 156 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 62 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 314, + 137, + 331, + 150 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.832, + 0.961, + 1.274, + 0.614, + 1.074, + 0.447, + 0.868, + 0.694 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.176 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.392 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.315 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.392 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.549 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.549 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.315 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 8 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step24/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25": { + "status": "post-spawn_Apple_17_in_DiningTable|7|1_1771164269849", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 389, + 45, + 448, + 90 + ] + ], + "distances_to_camera": [ + 1.127 + ], + "positions_3d": [ + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 341, + 110, + 367, + 141 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 427, + 47, + 451, + 72 + ], + [ + 364, + 74, + 508, + 203 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 386, + 91, + 391, + 92 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ], + [ + 328, + 127, + 341, + 137 + ] + ], + "distances_to_camera": [ + 1.081, + 1.181, + 1.51, + 0.852, + 1.324, + 1.191, + 0.695, + 0.944, + 1.117 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Tomato|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.313 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.192 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.251 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.304 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.304 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.251 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|7|0", + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 396, + 107, + 412, + 135 + ], + [ + 336, + 48, + 409, + 137 + ] + ], + "distances_to_camera": [ + 0.966, + 0.99 + ], + "positions_3d": [ + [ + 9.514, + 0.926, + 6.936 + ], + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Apple|surface|7|0", + "Bread|surface|7|0" + ], + "Q2_rel": { + "Apple|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.13 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|7|0", + "direction": "right", + "distance_3d": 0.13 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 429, + 119, + 463, + 152 + ], + [ + 313, + 0, + 346, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 118 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 370, + 124, + 408, + 163 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 449, + 114, + 470, + 128 + ], + [ + 451, + 148, + 474, + 163 + ] + ], + "distances_to_camera": [ + 0.925, + 1.061, + 0.716, + 1.197, + 0.797, + 0.68, + 0.872, + 1.31, + 1.06, + 0.884 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Tomato|surface|7|0", + "Watch|surface|7|21", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.313 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.252 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.266 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.192 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.251 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.304 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.304 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.209 + }, + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.251 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|7|0", + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 403, + 107, + 410, + 123 + ], + [ + 352, + 59, + 405, + 135 + ] + ], + "distances_to_camera": [ + 1.186, + 1.186 + ], + "positions_3d": [ + [ + 9.514, + 0.926, + 6.936 + ], + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Apple|surface|7|0", + "Bread|surface|7|0" + ], + "Q2_rel": { + "Apple|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.13 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|7|0", + "direction": "right", + "distance_3d": 0.13 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 427, + 109, + 455, + 138 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 381, + 119, + 414, + 154 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 441, + 108, + 453, + 113 + ], + [ + 449, + 131, + 468, + 144 + ] + ], + "distances_to_camera": [ + 1.185, + 1.222, + 0.833, + 1.44, + 0.98, + 0.951, + 1.086, + 1.588, + 1.324, + 1.159 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Tomato|surface|7|0", + "Watch|surface|7|21", + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.313 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.266 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.192 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.251 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.304 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.304 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.251 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 353, + 69, + 423, + 142 + ] + ], + "distances_to_camera": [ + 1.154 + ], + "positions_3d": [ + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 422, + 96, + 444, + 123 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 401, + 117, + 430, + 151 + ], + [ + 376, + 8, + 418, + 80 + ], + [ + 420, + 98, + 422, + 103 + ], + [ + 442, + 110, + 457, + 122 + ] + ], + "distances_to_camera": [ + 1.305, + 1.11, + 0.786, + 1.462, + 0.99, + 1.174, + 1.124, + 1.68, + 1.424, + 1.329 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Tomato|surface|7|0", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Watch|surface|7|21", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "right", + "distance_3d": 0.313 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Tomato|surface|7|0", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.323 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.266 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.192 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.251 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.304 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.429 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front", + "distance_3d": 0.304 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.209 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.251 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 370, + 76, + 437, + 141 + ] + ], + "distances_to_camera": [ + 1.185 + ], + "positions_3d": [ + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 436, + 93, + 482, + 119 + ], + [ + 419, + 122, + 438, + 139 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.081, + 1.142, + 1.373, + 1.205, + 1.493, + 1.263, + 1.583 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Tomato|surface|7|0", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.313 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.146 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.266 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.146 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.266 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 391, + 59, + 458, + 133 + ] + ], + "distances_to_camera": [ + 1.071 + ], + "positions_3d": [ + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 292, + 68, + 431, + 206 + ], + [ + 435, + 106, + 473, + 131 + ], + [ + 384, + 68, + 414, + 86 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.04, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.393 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 384, + 38, + 460, + 105 + ] + ], + "distances_to_camera": [ + 0.892 + ], + "positions_3d": [ + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 332, + 119, + 363, + 156 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 59 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 374, + 92, + 393, + 111 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ], + [ + 314, + 137, + 331, + 150 + ] + ], + "distances_to_camera": [ + 0.832, + 0.961, + 1.274, + 0.614, + 1.074, + 0.948, + 0.447, + 0.694, + 0.868 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "Tomato|surface|7|0", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.313 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.192 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.251 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.304 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.304 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.251 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 384, + 38, + 460, + 105 + ] + ], + "distances_to_camera": [ + 0.892 + ], + "positions_3d": [ + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0" + ], + "Q2_rel": { + "Bread|surface|7|0": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 332, + 119, + 363, + 156 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 59 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 374, + 92, + 393, + 111 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ], + [ + 314, + 137, + 331, + 150 + ] + ], + "distances_to_camera": [ + 0.832, + 0.961, + 1.274, + 0.614, + 1.074, + 0.948, + 0.447, + 0.694, + 0.868 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Watch|surface|7|21", + "Tomato|surface|7|0", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.147 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "left", + "distance_3d": 0.313 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Tomato|surface|7|0", + "direction": "front-left", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.252 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.192 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.251 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.304 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.41 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.147 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.304 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.092 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.251 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action12/spawn_Apple_17_in_DiningTable|7|1_1771164269849_step25/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action13": { + "steps": { + "place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26": { + "status": "pre-place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang0_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "TVStand|2|3|0", + "relation": "supports", + "room": "room0", + "members": [ + "CreditCard|surface|2|40", + "RemoteControl|surface|2|35", + "Television|2|3|1" + ], + "bounding_boxes": [ + [ + 0, + 62, + 10, + 66 + ], + [ + 0, + 47, + 6, + 51 + ], + [ + 0, + 37, + 15, + 58 + ] + ], + "distances_to_camera": [ + 4.8, + 5.189, + 4.93 + ], + "positions_3d": [ + [ + 0.477, + 0.399, + 5.85 + ], + [ + 0.086, + 0.4, + 5.85 + ], + [ + 0.32, + 0.886, + 5.692 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CreditCard|surface|2|40", + "Television|2|3|1", + "RemoteControl|surface|2|35" + ], + "Q2_rel": { + "CreditCard|surface|2|40": [ + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "back", + "distance_3d": 0.536 + } + ], + "RemoteControl|surface|2|35": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "front", + "distance_3d": 0.562 + } + ], + "Television|2|3|1": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.536 + }, + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.562 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang135_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 712, + 68, + 757, + 100 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 758, + 53, + 799, + 67 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 794, + 0, + 799, + 3 + ], + [ + 789, + 0, + 793, + 0 + ] + ], + "distances_to_camera": [ + 5.898, + 6.048 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.422, + 0.862, + 6.726 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|7|0", + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 752, + 14, + 761, + 20 + ], + [ + 743, + 0, + 779, + 15 + ] + ], + "distances_to_camera": [ + 6.183, + 6.097 + ], + "positions_3d": [ + [ + 9.514, + 0.926, + 6.936 + ], + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Apple|surface|7|0" + ], + "Q2_rel": { + "Apple|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.13 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|7|0", + "direction": "back", + "distance_3d": 0.13 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 760, + 16, + 761, + 20 + ], + [ + 745, + 0, + 761, + 21 + ], + [ + 785, + 12, + 799, + 21 + ], + [ + 719, + 0, + 745, + 21 + ], + [ + 764, + 21, + 786, + 21 + ], + [ + 774, + 19, + 786, + 20 + ], + [ + 762, + 10, + 775, + 21 + ], + [ + 720, + 2, + 723, + 8 + ], + [ + 744, + 18, + 745, + 19 + ] + ], + "distances_to_camera": [ + 6.336, + 5.982, + 5.898, + 6.331, + 6.048, + 6.318, + 6.149, + 6.557, + 6.396 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "BaseballBat|surface|7|0", + "CellPhone|surface|2|50", + "Tomato|surface|7|0", + "Plate|surface|7|16", + "Box|surface|7|17", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.147 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.313 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.314 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Tomato|surface|7|0", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.323 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.252 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front", + "distance_3d": 0.266 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.304 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.41 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.147 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.304 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 587, + 24, + 588, + 27 + ], + [ + 550, + 0, + 649, + 30 + ] + ], + "distances_to_camera": [ + 7.21, + 7.057 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 228, + 120, + 336 + ], + [ + 91, + 257, + 299, + 380 + ] + ], + "distances_to_camera": [ + 1.473, + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 86, + 189, + 280 + ] + ], + "distances_to_camera": [ + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1" + ], + "Q2_rel": { + "Pillow|2|2|1": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang315_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang45_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 184, + 22, + 202, + 31 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 776, + 130, + 799, + 160 + ] + ], + "distances_to_camera": [ + 2.598 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step26/meta/pre_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 183, + 43, + 202, + 47 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + } + ] + }, + "place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27": { + "status": "post-place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 386, + 211, + 417, + 217 + ] + ], + "distances_to_camera": [ + 1.381 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 385, + 205, + 416, + 232 + ] + ], + "distances_to_camera": [ + 1.42 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "TVStand|2|3|0", + "relation": "supports", + "room": "room0", + "members": [ + "CreditCard|surface|2|40", + "RemoteControl|surface|2|35", + "Television|2|3|1" + ], + "bounding_boxes": [ + [ + 0, + 62, + 10, + 66 + ], + [ + 0, + 47, + 6, + 51 + ], + [ + 0, + 37, + 15, + 58 + ] + ], + "distances_to_camera": [ + 4.8, + 5.189, + 4.93 + ], + "positions_3d": [ + [ + 0.477, + 0.399, + 5.85 + ], + [ + 0.086, + 0.4, + 5.85 + ], + [ + 0.32, + 0.886, + 5.692 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CreditCard|surface|2|40", + "Television|2|3|1", + "RemoteControl|surface|2|35" + ], + "Q2_rel": { + "CreditCard|surface|2|40": [ + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "back", + "distance_3d": 0.536 + } + ], + "RemoteControl|surface|2|35": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "front", + "distance_3d": 0.562 + } + ], + "Television|2|3|1": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.536 + }, + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.562 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang135_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 382, + 210, + 416, + 218 + ] + ], + "distances_to_camera": [ + 1.362 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 712, + 68, + 757, + 100 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 758, + 53, + 799, + 67 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 794, + 0, + 799, + 3 + ], + [ + 789, + 0, + 793, + 0 + ] + ], + "distances_to_camera": [ + 5.898, + 6.048 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.422, + 0.862, + 6.726 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Cup|surface|6|12", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|7|0", + "Bread|surface|7|0" + ], + "bounding_boxes": [ + [ + 752, + 14, + 761, + 20 + ], + [ + 743, + 0, + 779, + 15 + ] + ], + "distances_to_camera": [ + 6.183, + 6.097 + ], + "positions_3d": [ + [ + 9.514, + 0.926, + 6.936 + ], + [ + 9.426, + 1.021, + 6.928 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bread|surface|7|0", + "Apple|surface|7|0" + ], + "Q2_rel": { + "Apple|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.13 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|7|0", + "direction": "back", + "distance_3d": 0.13 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Tomato|surface|7|0", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 760, + 16, + 761, + 20 + ], + [ + 745, + 0, + 761, + 21 + ], + [ + 785, + 12, + 799, + 21 + ], + [ + 719, + 0, + 745, + 21 + ], + [ + 764, + 21, + 786, + 21 + ], + [ + 774, + 19, + 786, + 20 + ], + [ + 762, + 10, + 775, + 21 + ], + [ + 720, + 2, + 723, + 8 + ], + [ + 744, + 18, + 745, + 19 + ] + ], + "distances_to_camera": [ + 6.336, + 5.982, + 5.898, + 6.331, + 6.048, + 6.318, + 6.149, + 6.557, + 6.396 + ], + "positions_3d": [ + [ + 9.674, + 0.911, + 6.922 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.502, + 0.915, + 6.836 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "BaseballBat|surface|7|0", + "CellPhone|surface|2|50", + "Tomato|surface|7|0", + "Plate|surface|7|16", + "Box|surface|7|17", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.147 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.252 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.305 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.323 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.41 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.522 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Tomato|surface|7|0", + "direction": "back-right", + "distance_3d": 0.313 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.434 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Tomato|surface|7|0", + "direction": "back-left", + "distance_3d": 0.346 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.422 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.522 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.254 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.305 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.314 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.385 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Tomato|surface|7|0", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.323 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.252 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front", + "distance_3d": 0.266 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Tomato|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.192 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.266 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.304 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.313 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.346 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.385 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.563 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.41 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.563 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.147 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Tomato|surface|7|0", + "direction": "front-right", + "distance_3d": 0.304 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 587, + 24, + 588, + 27 + ], + [ + 550, + 0, + 649, + 30 + ] + ], + "distances_to_camera": [ + 7.21, + 7.057 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 228, + 120, + 336 + ], + [ + 91, + 257, + 299, + 380 + ] + ], + "distances_to_camera": [ + 1.473, + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 86, + 189, + 280 + ] + ], + "distances_to_camera": [ + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1" + ], + "Q2_rel": { + "Pillow|2|2|1": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 387, + 212, + 417, + 218 + ] + ], + "distances_to_camera": [ + 1.384 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 384, + 206, + 414, + 237 + ] + ], + "distances_to_camera": [ + 1.271 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang45_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 377, + 146, + 398, + 173 + ] + ], + "distances_to_camera": [ + 1.271 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 395, + 202, + 405, + 235 + ] + ], + "distances_to_camera": [ + 1.463 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 184, + 22, + 202, + 31 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 776, + 130, + 799, + 160 + ] + ], + "distances_to_camera": [ + 2.598 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action13/place_RemoteControl|surface|2|33_from_Bed|2|0_to_ArmChair|7|4|0_1771164282412_step27/meta/post_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 393, + 146, + 407, + 180 + ] + ], + "distances_to_camera": [ + 1.463 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 183, + 43, + 202, + 47 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + } + ] + } + } + }, + "action14": { + "steps": { + "spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28": { + "status": "pre-spawn_Candle_5_in_Bed|2|2|0_1771164293456", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 0, + 354, + 69, + 423 + ], + [ + 67, + 206, + 134, + 255 + ], + [ + 0, + 412, + 65, + 517 + ] + ], + "distances_to_camera": [ + 1.379, + 1.932, + 1.252 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 523, + 182, + 596, + 225 + ], + [ + 356, + 268, + 475, + 368 + ], + [ + 227, + 132, + 327, + 182 + ], + [ + 319, + 109, + 400, + 149 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|43", + "Book|surface|2|42", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 728, + 157, + 766, + 173 + ], + [ + 630, + 137, + 687, + 163 + ], + [ + 723, + 138, + 759, + 152 + ] + ], + "distances_to_camera": [ + 3.869, + 3.662, + 4.323 + ], + "positions_3d": [ + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang0_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 114, + 52, + 182 + ] + ], + "distances_to_camera": [ + 1.932 + ], + "positions_3d": [ + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "BasketBall|surface|2|46": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 553, + 135, + 640, + 156 + ], + [ + 331, + 125, + 522, + 255 + ], + [ + 200, + 103, + 318, + 136 + ], + [ + 312, + 98, + 400, + 124 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|43", + "Book|surface|2|42", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 760, + 148, + 799, + 157 + ], + [ + 646, + 137, + 709, + 152 + ], + [ + 749, + 139, + 783, + 146 + ] + ], + "distances_to_camera": [ + 3.869, + 3.662, + 4.323 + ], + "positions_3d": [ + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 511, + 56, + 539, + 86 + ], + [ + 591, + 86, + 636, + 130 + ], + [ + 481, + 57, + 516, + 78 + ] + ], + "distances_to_camera": [ + 2.996, + 2.485, + 3.191 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 162, + 167, + 257, + 226 + ], + [ + 329, + 64, + 399, + 120 + ], + [ + 530, + 159, + 641, + 255 + ], + [ + 451, + 239, + 600, + 397 + ] + ], + "distances_to_camera": [ + 1.604, + 2.28, + 1.444, + 0.762 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2", + "Book|surface|2|28", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 519, + 45, + 548, + 74 + ], + [ + 620, + 38, + 675, + 71 + ], + [ + 486, + 60, + 520, + 71 + ] + ], + "distances_to_camera": [ + 2.996, + 2.485, + 3.191 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 70, + 96, + 210, + 130 + ], + [ + 319, + 32, + 399, + 78 + ], + [ + 597, + 66, + 750, + 120 + ], + [ + 506, + 104, + 799, + 286 + ] + ], + "distances_to_camera": [ + 1.604, + 2.28, + 1.444, + 0.762 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2", + "Book|surface|2|28", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 387, + 44, + 406, + 70 + ], + [ + 475, + 50, + 507, + 88 + ], + [ + 354, + 52, + 384, + 68 + ] + ], + "distances_to_camera": [ + 3.132, + 2.81, + 3.275 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 161, + 243, + 260, + 316 + ], + [ + 245, + 90, + 318, + 138 + ], + [ + 506, + 109, + 593, + 180 + ], + [ + 533, + 179, + 659, + 289 + ] + ], + "distances_to_camera": [ + 1.093, + 2.102, + 1.868, + 1.279 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Pillow|2|2|1", + "Pillow|2|2|2", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 387, + 43, + 406, + 68 + ], + [ + 480, + 32, + 515, + 75 + ], + [ + 352, + 59, + 384, + 68 + ] + ], + "distances_to_camera": [ + 3.132, + 2.81, + 3.275 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 138, + 187, + 201 + ], + [ + 214, + 38, + 306, + 86 + ], + [ + 526, + 53, + 654, + 102 + ], + [ + 584, + 77, + 799, + 171 + ] + ], + "distances_to_camera": [ + 1.093, + 2.102, + 1.868, + 1.279 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Pillow|2|2|1", + "Pillow|2|2|2", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 231, + 81, + 261, + 109 + ], + [ + 332, + 62, + 360, + 96 + ], + [ + 189, + 95, + 236, + 119 + ] + ], + "distances_to_camera": [ + 3.031, + 2.984, + 3.092 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 300, + 289, + 419, + 399 + ], + [ + 157, + 143, + 266, + 220 + ], + [ + 409, + 90, + 499, + 139 + ], + [ + 487, + 122, + 603, + 185 + ] + ], + "distances_to_camera": [ + 0.62, + 1.734, + 2.302, + 1.948 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 219, + 70, + 250, + 97 + ], + [ + 328, + 55, + 358, + 92 + ], + [ + 211, + 90, + 222, + 98 + ] + ], + "distances_to_camera": [ + 3.031, + 2.984, + 3.092 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 220, + 177, + 438, + 300 + ], + [ + 79, + 68, + 229, + 138 + ], + [ + 410, + 68, + 513, + 100 + ], + [ + 503, + 76, + 652, + 118 + ] + ], + "distances_to_camera": [ + 0.62, + 1.734, + 2.302, + 1.948 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 51, + 166, + 111, + 201 + ], + [ + 182, + 100, + 223, + 139 + ], + [ + 0, + 201, + 81, + 236 + ] + ], + "distances_to_camera": [ + 2.377, + 2.62, + 2.35 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 487, + 272, + 595, + 329 + ], + [ + 170, + 222, + 285, + 329 + ], + [ + 311, + 97, + 400, + 133 + ], + [ + 412, + 99, + 503, + 136 + ] + ], + "distances_to_camera": [ + 0.946, + 1.059, + 2.342, + 2.317 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 98, + 22, + 141 + ], + [ + 154, + 65, + 201, + 111 + ] + ], + "distances_to_camera": [ + 2.377, + 2.62 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 534, + 167, + 752, + 217 + ], + [ + 0, + 90, + 232, + 216 + ], + [ + 300, + 72, + 401, + 101 + ], + [ + 414, + 72, + 517, + 102 + ] + ], + "distances_to_camera": [ + 0.946, + 1.059, + 2.342, + 2.317 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 0, + 354, + 69, + 423 + ], + [ + 67, + 206, + 134, + 255 + ], + [ + 0, + 412, + 65, + 517 + ] + ], + "distances_to_camera": [ + 1.379, + 1.932, + 1.252 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 523, + 182, + 596, + 225 + ], + [ + 356, + 268, + 475, + 368 + ], + [ + 227, + 132, + 327, + 182 + ], + [ + 319, + 109, + 400, + 149 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|43", + "Book|surface|2|42", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 728, + 157, + 766, + 173 + ], + [ + 630, + 137, + 687, + 163 + ], + [ + 723, + 138, + 759, + 152 + ] + ], + "distances_to_camera": [ + 3.869, + 3.662, + 4.323 + ], + "positions_3d": [ + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang315_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 114, + 52, + 182 + ] + ], + "distances_to_camera": [ + 1.932 + ], + "positions_3d": [ + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "BasketBall|surface|2|46": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 553, + 135, + 640, + 156 + ], + [ + 331, + 125, + 522, + 255 + ], + [ + 200, + 103, + 318, + 136 + ], + [ + 312, + 98, + 400, + 124 + ] + ], + "distances_to_camera": [ + 1.846, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|43", + "Book|surface|2|42", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 760, + 148, + 799, + 157 + ], + [ + 646, + 137, + 709, + 152 + ], + [ + 749, + 139, + 783, + 146 + ] + ], + "distances_to_camera": [ + 3.869, + 3.662, + 4.323 + ], + "positions_3d": [ + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ], + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 23, + 438, + 72, + 494 + ] + ], + "distances_to_camera": [ + 1.384 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 23, + 438, + 72, + 494 + ] + ], + "distances_to_camera": [ + 1.384 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step28/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29": { + "status": "post-spawn_Candle_5_in_Bed|2|2|0_1771164293456", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 523, + 182, + 596, + 225 + ], + [ + 393, + 94, + 402, + 118 + ], + [ + 356, + 268, + 475, + 368 + ], + [ + 227, + 132, + 327, + 182 + ], + [ + 319, + 109, + 400, + 149 + ] + ], + "distances_to_camera": [ + 1.846, + 1.697, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 1.036, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Candle|surface|2|0", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Candle|surface|2|0": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.937 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.035 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Candle|surface|2|0", + "direction": "back-left", + "distance_3d": 1.035 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.937 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 0, + 354, + 69, + 423 + ], + [ + 67, + 206, + 134, + 255 + ], + [ + 0, + 412, + 65, + 517 + ] + ], + "distances_to_camera": [ + 1.379, + 1.932, + 1.252 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|44", + "Book|surface|2|43" + ], + "bounding_boxes": [ + [ + 630, + 137, + 687, + 163 + ], + [ + 723, + 138, + 759, + 152 + ], + [ + 728, + 157, + 766, + 173 + ] + ], + "distances_to_camera": [ + 3.662, + 4.323, + 3.869 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ], + [ + 1.314, + 0.411, + 4.916 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang0_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 553, + 135, + 640, + 156 + ], + [ + 391, + 0, + 403, + 33 + ], + [ + 331, + 125, + 522, + 255 + ], + [ + 200, + 103, + 318, + 136 + ], + [ + 312, + 98, + 400, + 124 + ] + ], + "distances_to_camera": [ + 1.846, + 1.697, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 1.036, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Candle|surface|2|0", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Candle|surface|2|0": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.937 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.035 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Candle|surface|2|0", + "direction": "back-left", + "distance_3d": 1.035 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.937 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 114, + 52, + 182 + ] + ], + "distances_to_camera": [ + 1.932 + ], + "positions_3d": [ + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "BasketBall|surface|2|46": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|44", + "Book|surface|2|43" + ], + "bounding_boxes": [ + [ + 646, + 137, + 709, + 152 + ], + [ + 749, + 139, + 783, + 146 + ], + [ + 760, + 148, + 799, + 157 + ] + ], + "distances_to_camera": [ + 3.662, + 4.323, + 3.869 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ], + [ + 1.314, + 0.411, + 4.916 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 162, + 167, + 257, + 226 + ], + [ + 396, + 67, + 408, + 100 + ], + [ + 329, + 64, + 399, + 120 + ], + [ + 530, + 159, + 641, + 255 + ], + [ + 451, + 239, + 600, + 397 + ] + ], + "distances_to_camera": [ + 1.604, + 1.342, + 2.28, + 1.444, + 0.762 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 1.036, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Candle|surface|2|0", + "Pillow|2|2|2", + "Book|surface|2|28", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Candle|surface|2|0": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.937 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.035 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 1.035 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 0.937 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "back-left", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 511, + 56, + 539, + 86 + ], + [ + 591, + 86, + 636, + 130 + ], + [ + 481, + 57, + 516, + 78 + ] + ], + "distances_to_camera": [ + 2.996, + 2.485, + 3.191 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 70, + 96, + 210, + 130 + ], + [ + 319, + 32, + 399, + 78 + ], + [ + 597, + 66, + 750, + 120 + ], + [ + 506, + 104, + 799, + 286 + ] + ], + "distances_to_camera": [ + 1.604, + 2.28, + 1.444, + 0.762 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2", + "Book|surface|2|28", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 519, + 45, + 548, + 74 + ], + [ + 620, + 38, + 675, + 71 + ], + [ + 486, + 60, + 520, + 71 + ] + ], + "distances_to_camera": [ + 2.996, + 2.485, + 3.191 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 161, + 243, + 260, + 316 + ], + [ + 394, + 67, + 406, + 100 + ], + [ + 245, + 90, + 318, + 138 + ], + [ + 506, + 109, + 593, + 180 + ], + [ + 533, + 179, + 659, + 289 + ] + ], + "distances_to_camera": [ + 1.093, + 1.351, + 2.102, + 1.868, + 1.279 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 1.036, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Pillow|2|2|1", + "Candle|surface|2|0", + "Pillow|2|2|2", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Candle|surface|2|0", + "direction": "back-right", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Candle|surface|2|0": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.937 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.035 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 1.035 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 0.937 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "back-left", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 387, + 44, + 406, + 70 + ], + [ + 475, + 50, + 507, + 88 + ], + [ + 354, + 52, + 384, + 68 + ] + ], + "distances_to_camera": [ + 3.132, + 2.81, + 3.275 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 138, + 187, + 201 + ], + [ + 214, + 38, + 306, + 86 + ], + [ + 526, + 53, + 654, + 102 + ], + [ + 584, + 77, + 799, + 171 + ] + ], + "distances_to_camera": [ + 1.093, + 2.102, + 1.868, + 1.279 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Pillow|2|2|1", + "Pillow|2|2|2", + "Laptop|surface|2|29" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 387, + 43, + 406, + 68 + ], + [ + 480, + 32, + 515, + 75 + ], + [ + 352, + 59, + 384, + 68 + ] + ], + "distances_to_camera": [ + 3.132, + 2.81, + 3.275 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 300, + 289, + 419, + 399 + ], + [ + 392, + 77, + 403, + 106 + ], + [ + 157, + 143, + 266, + 220 + ], + [ + 409, + 90, + 499, + 139 + ], + [ + 487, + 122, + 603, + 185 + ] + ], + "distances_to_camera": [ + 0.62, + 1.479, + 1.734, + 2.302, + 1.948 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 1.036, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Candle|surface|2|0", + "direction": "back-right", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Candle|surface|2|0": [ + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 0.937 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.035 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 1.035 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 0.937 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 231, + 81, + 261, + 109 + ], + [ + 332, + 62, + 360, + 96 + ], + [ + 189, + 95, + 236, + 119 + ] + ], + "distances_to_camera": [ + 3.031, + 2.984, + 3.092 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 220, + 177, + 438, + 300 + ], + [ + 79, + 68, + 229, + 138 + ], + [ + 410, + 68, + 513, + 100 + ], + [ + 503, + 76, + 652, + 118 + ] + ], + "distances_to_camera": [ + 0.62, + 1.734, + 2.302, + 1.948 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-left", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 219, + 70, + 250, + 97 + ], + [ + 328, + 55, + 358, + 92 + ], + [ + 211, + 90, + 222, + 98 + ] + ], + "distances_to_camera": [ + 3.031, + 2.984, + 3.092 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46", + "AlarmClock|surface|2|32", + "Book|surface|2|47" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "back-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "front-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 487, + 272, + 595, + 329 + ], + [ + 391, + 80, + 402, + 108 + ], + [ + 170, + 222, + 285, + 329 + ], + [ + 311, + 97, + 400, + 133 + ], + [ + 412, + 99, + 503, + 136 + ] + ], + "distances_to_camera": [ + 0.946, + 1.495, + 1.059, + 2.342, + 2.317 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 1.036, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Candle|surface|2|0", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Candle|surface|2|0", + "direction": "back-left", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Candle|surface|2|0": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.937 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.035 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Candle|surface|2|0", + "direction": "back-right", + "distance_3d": 1.035 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "right", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.937 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "left", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 51, + 166, + 111, + 201 + ], + [ + 182, + 100, + 223, + 139 + ], + [ + 0, + 201, + 81, + 236 + ] + ], + "distances_to_camera": [ + 2.377, + 2.62, + 2.35 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "left", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "right", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 534, + 167, + 752, + 217 + ], + [ + 0, + 90, + 232, + 216 + ], + [ + 300, + 72, + 401, + 101 + ], + [ + 414, + 72, + 517, + 102 + ] + ], + "distances_to_camera": [ + 0.946, + 1.059, + 2.342, + 2.317 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|28", + "Laptop|surface|2|29", + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Laptop|surface|2|29", + "direction": "back-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-right", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "right", + "distance_3d": 0.696 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "left", + "distance_3d": 0.696 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 4 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 98, + 22, + 141 + ], + [ + 154, + 65, + 201, + 111 + ] + ], + "distances_to_camera": [ + 2.377, + 2.62 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 523, + 182, + 596, + 225 + ], + [ + 393, + 94, + 402, + 118 + ], + [ + 356, + 268, + 475, + 368 + ], + [ + 227, + 132, + 327, + 182 + ], + [ + 319, + 109, + 400, + 149 + ] + ], + "distances_to_camera": [ + 1.846, + 1.697, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 1.036, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Candle|surface|2|0", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Candle|surface|2|0": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.937 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.035 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Candle|surface|2|0", + "direction": "back-left", + "distance_3d": 1.035 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.937 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46", + "Book|surface|2|47" + ], + "bounding_boxes": [ + [ + 0, + 354, + 69, + 423 + ], + [ + 67, + 206, + 134, + 255 + ], + [ + 0, + 412, + 65, + 517 + ] + ], + "distances_to_camera": [ + 1.379, + 1.932, + 1.252 + ], + "positions_3d": [ + [ + 2.686, + 0.557, + 9.363 + ], + [ + 3.406, + 0.675, + 8.973 + ], + [ + 2.447, + 0.556, + 9.493 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|47", + "AlarmClock|surface|2|32", + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "AlarmClock|surface|2|32": [ + { + "object": "Book|surface|2|47", + "direction": "front", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 0.827 + } + ], + "BasketBall|surface|2|46": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "front-left", + "distance_3d": 0.827 + }, + { + "object": "Book|surface|2|47", + "direction": "front-left", + "distance_3d": 1.097 + } + ], + "Book|surface|2|47": [ + { + "object": "AlarmClock|surface|2|32", + "direction": "back", + "distance_3d": 0.272 + }, + { + "object": "BasketBall|surface|2|46", + "direction": "back-right", + "distance_3d": 1.097 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|44", + "Book|surface|2|43" + ], + "bounding_boxes": [ + [ + 630, + 137, + 687, + 163 + ], + [ + 723, + 138, + 759, + 152 + ], + [ + 728, + 157, + 766, + 173 + ] + ], + "distances_to_camera": [ + 3.662, + 4.323, + 3.869 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ], + [ + 1.314, + 0.411, + 4.916 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang315_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|28", + "Candle|surface|2|0", + "Laptop|surface|2|29", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 553, + 135, + 640, + 156 + ], + [ + 391, + 0, + 403, + 33 + ], + [ + 331, + 125, + 522, + 255 + ], + [ + 200, + 103, + 318, + 136 + ], + [ + 312, + 98, + 400, + 124 + ] + ], + "distances_to_camera": [ + 1.846, + 1.697, + 0.798, + 2.211, + 2.553 + ], + "positions_3d": [ + [ + 2.0, + 0.624, + 6.995 + ], + [ + 2.736, + 1.036, + 7.594 + ], + [ + 2.0, + 0.624, + 8.194 + ], + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Laptop|surface|2|29", + "Candle|surface|2|0", + "Book|surface|2|28", + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "Q2_rel": { + "Book|surface|2|28": [ + { + "object": "Candle|surface|2|0", + "direction": "front-left", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-left", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.563 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.805 + } + ], + "Candle|surface|2|0": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.937 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.035 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.035 + } + ], + "Laptop|surface|2|29": [ + { + "object": "Candle|surface|2|0", + "direction": "back-left", + "distance_3d": 1.035 + }, + { + "object": "Book|surface|2|28", + "direction": "back-right", + "distance_3d": 1.199 + }, + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 1.567 + }, + { + "object": "Pillow|2|2|1", + "direction": "back-left", + "distance_3d": 1.819 + } + ], + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.937 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.567 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.805 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Candle|surface|2|0", + "direction": "front-right", + "distance_3d": 0.946 + }, + { + "object": "Book|surface|2|28", + "direction": "front-right", + "distance_3d": 1.563 + }, + { + "object": "Laptop|surface|2|29", + "direction": "front-right", + "distance_3d": 1.819 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 5 + } + }, + { + "receptacle": "Bed|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "BasketBall|surface|2|46" + ], + "bounding_boxes": [ + [ + 0, + 114, + 52, + 182 + ] + ], + "distances_to_camera": [ + 1.932 + ], + "positions_3d": [ + [ + 3.406, + 0.675, + 8.973 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BasketBall|surface|2|46" + ], + "Q2_rel": { + "BasketBall|surface|2|46": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|44", + "Book|surface|2|43" + ], + "bounding_boxes": [ + [ + 646, + 137, + 709, + 152 + ], + [ + 749, + 139, + 783, + 146 + ], + [ + 760, + 148, + 799, + 157 + ] + ], + "distances_to_camera": [ + 3.662, + 4.323, + 3.869 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ], + [ + 1.314, + 0.411, + 4.916 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back-right", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-right", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "front", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-left", + "distance_3d": 0.654 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 23, + 438, + 72, + 494 + ] + ], + "distances_to_camera": [ + 1.384 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "RemoteControl|surface|2|33" + ], + "bounding_boxes": [ + [ + 23, + 438, + 72, + 494 + ] + ], + "distances_to_camera": [ + 1.384 + ], + "positions_3d": [ + [ + 4.396, + 0.347, + 6.74 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "RemoteControl|surface|2|33" + ], + "Q2_rel": { + "RemoteControl|surface|2|33": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action14/spawn_Candle_5_in_Bed|2|2|0_1771164293456_step29/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action2": { + "steps": { + "place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4": { + "status": "pre-place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang0_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "TVStand|2|3|0", + "relation": "supports", + "room": "room0", + "members": [ + "CreditCard|surface|2|40", + "RemoteControl|surface|2|35", + "Television|2|3|1" + ], + "bounding_boxes": [ + [ + 0, + 62, + 10, + 66 + ], + [ + 0, + 47, + 6, + 51 + ], + [ + 0, + 37, + 15, + 58 + ] + ], + "distances_to_camera": [ + 4.8, + 5.189, + 4.93 + ], + "positions_3d": [ + [ + 0.477, + 0.399, + 5.85 + ], + [ + 0.086, + 0.4, + 5.85 + ], + [ + 0.32, + 0.886, + 5.692 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CreditCard|surface|2|40", + "Television|2|3|1", + "RemoteControl|surface|2|35" + ], + "Q2_rel": { + "CreditCard|surface|2|40": [ + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "back", + "distance_3d": 0.536 + } + ], + "RemoteControl|surface|2|35": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "front", + "distance_3d": 0.562 + } + ], + "Television|2|3|1": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.536 + }, + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.562 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang135_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 712, + 68, + 757, + 100 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 758, + 53, + 799, + 67 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19" + ], + "bounding_boxes": [ + [ + 794, + 0, + 799, + 3 + ] + ], + "distances_to_camera": [ + 5.898 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 785, + 12, + 799, + 21 + ], + [ + 723, + 0, + 766, + 21 + ], + [ + 774, + 19, + 786, + 21 + ], + [ + 719, + 0, + 733, + 20 + ] + ], + "distances_to_camera": [ + 5.898, + 6.3, + 6.315, + 6.557 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.438 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 587, + 24, + 588, + 27 + ], + [ + 550, + 0, + 649, + 30 + ] + ], + "distances_to_camera": [ + 7.21, + 7.057 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 228, + 120, + 336 + ], + [ + 91, + 257, + 299, + 380 + ] + ], + "distances_to_camera": [ + 1.473, + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 86, + 189, + 280 + ] + ], + "distances_to_camera": [ + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1" + ], + "Q2_rel": { + "Pillow|2|2|1": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang315_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang45_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 184, + 22, + 202, + 31 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 776, + 130, + 799, + 160 + ] + ], + "distances_to_camera": [ + 2.598 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step4/meta/pre_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 183, + 43, + 202, + 47 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + } + ] + }, + "place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5": { + "status": "post-place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 390, + 211, + 405, + 217 + ] + ], + "distances_to_camera": [ + 1.391 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 388, + 211, + 415, + 231 + ] + ], + "distances_to_camera": [ + 1.43 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "TVStand|2|3|0", + "relation": "supports", + "room": "room0", + "members": [ + "CreditCard|surface|2|40", + "RemoteControl|surface|2|35", + "Television|2|3|1" + ], + "bounding_boxes": [ + [ + 0, + 62, + 10, + 66 + ], + [ + 0, + 47, + 6, + 51 + ], + [ + 0, + 37, + 15, + 58 + ] + ], + "distances_to_camera": [ + 4.8, + 5.189, + 4.93 + ], + "positions_3d": [ + [ + 0.477, + 0.399, + 5.85 + ], + [ + 0.086, + 0.4, + 5.85 + ], + [ + 0.32, + 0.886, + 5.692 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CreditCard|surface|2|40", + "Television|2|3|1", + "RemoteControl|surface|2|35" + ], + "Q2_rel": { + "CreditCard|surface|2|40": [ + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "back", + "distance_3d": 0.536 + } + ], + "RemoteControl|surface|2|35": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "front", + "distance_3d": 0.562 + } + ], + "Television|2|3|1": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.536 + }, + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.562 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang135_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 394, + 211, + 409, + 218 + ] + ], + "distances_to_camera": [ + 1.372 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 712, + 68, + 757, + 100 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 758, + 53, + 799, + 67 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19" + ], + "bounding_boxes": [ + [ + 794, + 0, + 799, + 3 + ] + ], + "distances_to_camera": [ + 5.898 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 785, + 12, + 799, + 21 + ], + [ + 723, + 0, + 766, + 21 + ], + [ + 774, + 19, + 786, + 21 + ], + [ + 719, + 0, + 733, + 20 + ] + ], + "distances_to_camera": [ + 5.898, + 6.3, + 6.315, + 6.557 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.438 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 587, + 24, + 588, + 27 + ], + [ + 550, + 0, + 649, + 30 + ] + ], + "distances_to_camera": [ + 7.21, + 7.057 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 228, + 120, + 336 + ], + [ + 91, + 257, + 299, + 380 + ] + ], + "distances_to_camera": [ + 1.473, + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 86, + 189, + 280 + ] + ], + "distances_to_camera": [ + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1" + ], + "Q2_rel": { + "Pillow|2|2|1": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 392, + 211, + 407, + 217 + ] + ], + "distances_to_camera": [ + 1.395 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 383, + 213, + 416, + 238 + ] + ], + "distances_to_camera": [ + 1.282 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang45_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 375, + 150, + 398, + 169 + ] + ], + "distances_to_camera": [ + 1.282 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 385, + 216, + 415, + 227 + ] + ], + "distances_to_camera": [ + 1.473 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 184, + 22, + 202, + 31 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 776, + 130, + 799, + 160 + ] + ], + "distances_to_camera": [ + 2.598 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action2/place_CellPhone|surface|2|50_from_Bed|2|2|0_to_ArmChair|7|4|0_1771164112143_step5/meta/post_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 380, + 164, + 420, + 173 + ] + ], + "distances_to_camera": [ + 1.473 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 183, + 43, + 202, + 47 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + } + ] + } + } + }, + "action3": { + "steps": { + "place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6": { + "status": "pre-place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "CounterTop|6|0", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Cup|surface|6|12", + "Plate|surface|6|8" + ], + "bounding_boxes": [ + [ + 276, + 0, + 279, + 0 + ], + [ + 290, + 0, + 298, + 1 + ], + [ + 197, + 0, + 204, + 0 + ] + ], + "distances_to_camera": [ + 4.262, + 4.231, + 4.631 + ], + "positions_3d": [ + [ + 8.403, + 1.004, + 4.086 + ], + [ + 8.25, + 0.939, + 4.086 + ], + [ + 9.17, + 0.939, + 3.931 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12", + "Apple|surface|6|10", + "Plate|surface|6|8" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Cup|surface|6|12", + "direction": "right", + "distance_3d": 0.166 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.785 + } + ], + "Cup|surface|6|12": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.166 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.933 + } + ], + "Plate|surface|6|8": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.785 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.933 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19" + ], + "bounding_boxes": [ + [ + 0, + 108, + 30, + 136 + ] + ], + "distances_to_camera": [ + 2.472 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 529, + 503, + 674, + 599 + ] + ], + "distances_to_camera": [ + 0.858 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang0_low.json" + }, + "topology_clusters": [ + { + "receptacle": "CounterTop|6|0", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bread|surface|6|1", + "CoffeeMachine|surface|6|0", + "Cup|surface|6|12", + "Kettle|surface|6|3", + "Mug|surface|6|2", + "Plate|surface|6|8", + "Pot|surface|6|5", + "Spatula|surface|6|9" + ], + "bounding_boxes": [ + [ + 277, + 21, + 287, + 35 + ], + [ + 261, + 17, + 288, + 36 + ], + [ + 133, + 0, + 191, + 36 + ], + [ + 291, + 16, + 301, + 36 + ], + [ + 192, + 36, + 192, + 36 + ], + [ + 212, + 30, + 221, + 36 + ], + [ + 201, + 35, + 222, + 36 + ], + [ + 234, + 17, + 260, + 36 + ], + [ + 250, + 35, + 278, + 36 + ] + ], + "distances_to_camera": [ + 4.262, + 4.599, + 5.05, + 4.231, + 5.497, + 6.072, + 4.631, + 4.752, + 4.485 + ], + "positions_3d": [ + [ + 8.403, + 1.004, + 4.086 + ], + [ + 8.557, + 1.016, + 3.776 + ], + [ + 9.703, + 0.938, + 3.706 + ], + [ + 8.25, + 0.939, + 4.086 + ], + [ + 9.78, + 0.943, + 3.249 + ], + [ + 9.626, + 0.939, + 2.563 + ], + [ + 9.17, + 0.939, + 3.931 + ], + [ + 8.863, + 0.938, + 3.698 + ], + [ + 8.71, + 0.946, + 3.931 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12", + "Apple|surface|6|10", + "Spatula|surface|6|9", + "Bread|surface|6|1", + "Plate|surface|6|8", + "Pot|surface|6|5", + "CoffeeMachine|surface|6|0", + "Kettle|surface|6|3", + "Mug|surface|6|2" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Cup|surface|6|12", + "direction": "overlapping/extremely close", + "distance_3d": 0.166 + }, + { + "object": "Bread|surface|6|1", + "direction": "back", + "distance_3d": 0.346 + }, + { + "object": "Spatula|surface|6|9", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "Pot|surface|6|5", + "direction": "back-left", + "distance_3d": 0.605 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.785 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 1.356 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.613 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 1.954 + } + ], + "Bread|surface|6|1": [ + { + "object": "Spatula|surface|6|9", + "direction": "front", + "distance_3d": 0.229 + }, + { + "object": "Pot|surface|6|5", + "direction": "back-left", + "distance_3d": 0.325 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.346 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.443 + }, + { + "object": "Plate|surface|6|8", + "direction": "left", + "distance_3d": 0.637 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 1.151 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.334 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 1.619 + } + ], + "CoffeeMachine|surface|6|0": [ + { + "object": "Kettle|surface|6|3", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|6|8", + "direction": "front-right", + "distance_3d": 0.579 + }, + { + "object": "Pot|surface|6|5", + "direction": "front-right", + "distance_3d": 0.84 + }, + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 1.018 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-right", + "distance_3d": 1.146 + }, + { + "object": "Bread|surface|6|1", + "direction": "front-right", + "distance_3d": 1.151 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 1.356 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 1.502 + } + ], + "Cup|surface|6|12": [ + { + "object": "Apple|surface|6|10", + "direction": "overlapping/extremely close", + "distance_3d": 0.166 + }, + { + "object": "Bread|surface|6|1", + "direction": "back-left", + "distance_3d": 0.443 + }, + { + "object": "Spatula|surface|6|9", + "direction": "back-left", + "distance_3d": 0.485 + }, + { + "object": "Pot|surface|6|5", + "direction": "back-left", + "distance_3d": 0.725 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.933 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 1.502 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.744 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 2.053 + } + ], + "Kettle|surface|6|3": [ + { + "object": "CoffeeMachine|surface|6|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-right", + "distance_3d": 0.703 + }, + { + "object": "Plate|surface|6|8", + "direction": "front-right", + "distance_3d": 0.915 + }, + { + "object": "Pot|surface|6|5", + "direction": "front-right", + "distance_3d": 1.021 + }, + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 1.269 + }, + { + "object": "Bread|surface|6|1", + "direction": "front-right", + "distance_3d": 1.334 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 1.613 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 1.744 + } + ], + "Mug|surface|6|2": [ + { + "object": "Kettle|surface|6|3", + "direction": "front-left", + "distance_3d": 0.703 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "front-left", + "distance_3d": 1.146 + }, + { + "object": "Pot|surface|6|5", + "direction": "front-right", + "distance_3d": 1.368 + }, + { + "object": "Plate|surface|6|8", + "direction": "front", + "distance_3d": 1.442 + }, + { + "object": "Bread|surface|6|1", + "direction": "front-right", + "distance_3d": 1.619 + }, + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 1.646 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 1.954 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 2.053 + } + ], + "Plate|surface|6|8": [ + { + "object": "Pot|surface|6|5", + "direction": "back-right", + "distance_3d": 0.385 + }, + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 0.46 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 0.579 + }, + { + "object": "Bread|surface|6|1", + "direction": "right", + "distance_3d": 0.637 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.785 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 0.915 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.933 + }, + { + "object": "Mug|surface|6|2", + "direction": "back", + "distance_3d": 1.442 + } + ], + "Pot|surface|6|5": [ + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 0.279 + }, + { + "object": "Bread|surface|6|1", + "direction": "front-right", + "distance_3d": 0.325 + }, + { + "object": "Plate|surface|6|8", + "direction": "front-left", + "distance_3d": 0.385 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.605 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.725 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 0.84 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.021 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 1.368 + } + ], + "Spatula|surface|6|9": [ + { + "object": "Bread|surface|6|1", + "direction": "back", + "distance_3d": 0.229 + }, + { + "object": "Pot|surface|6|5", + "direction": "back-left", + "distance_3d": 0.279 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.46 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.485 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 1.018 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.269 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 1.646 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 141, + 89, + 163, + 98 + ] + ], + "distances_to_camera": [ + 3.967 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 295, + 0, + 314, + 9 + ] + ], + "distances_to_camera": [ + 4.967 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 454, + 97, + 510, + 135 + ], + [ + 511, + 87, + 532, + 95 + ] + ], + "distances_to_camera": [ + 2.883, + 3.64 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 130, + 104, + 155, + 108 + ] + ], + "distances_to_camera": [ + 3.967 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 309, + 35, + 318, + 56 + ] + ], + "distances_to_camera": [ + 4.967 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 461, + 101, + 518, + 133 + ], + [ + 515, + 106, + 536, + 111 + ] + ], + "distances_to_camera": [ + 2.883, + 3.64 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 25, + 11, + 53, + 45 + ] + ], + "distances_to_camera": [ + 4.526 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 331, + 82, + 378, + 114 + ], + [ + 356, + 66, + 359, + 68 + ] + ], + "distances_to_camera": [ + 2.857, + 3.66 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 711, + 25, + 721, + 31 + ], + [ + 716, + 22, + 732, + 32 + ], + [ + 676, + 0, + 799, + 53 + ] + ], + "distances_to_camera": [ + 3.796, + 3.838, + 3.837 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2", + "RemoteControl|surface|7|22" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "right", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "left", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 17, + 25, + 49, + 56 + ] + ], + "distances_to_camera": [ + 4.526 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 327, + 86, + 376, + 110 + ], + [ + 372, + 89, + 372, + 89 + ] + ], + "distances_to_camera": [ + 2.857, + 3.66 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 732, + 16, + 739, + 24 + ], + [ + 734, + 25, + 740, + 25 + ], + [ + 667, + 0, + 799, + 30 + ] + ], + "distances_to_camera": [ + 4.004, + 3.838, + 3.837 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "RemoteControl|surface|7|22", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "front", + "distance_3d": 0.168 + }, + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.168 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 633, + 43, + 668, + 64 + ], + [ + 558, + 0, + 621, + 47 + ], + [ + 554, + 0, + 571, + 29 + ], + [ + 627, + 34, + 670, + 45 + ], + [ + 566, + 6, + 569, + 15 + ] + ], + "distances_to_camera": [ + 2.858, + 3.282, + 3.367, + 3.275, + 3.552 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Box|surface|7|17", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 163, + 146, + 232, + 192 + ], + [ + 139, + 134, + 166, + 145 + ] + ], + "distances_to_camera": [ + 2.581, + 3.369 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-left", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-right", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 414, + 2, + 417, + 3 + ], + [ + 413, + 6, + 422, + 9 + ], + [ + 413, + 4, + 428, + 8 + ], + [ + 386, + 0, + 472, + 16 + ] + ], + "distances_to_camera": [ + 4.474, + 4.262, + 4.317, + 4.31 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2", + "RemoteControl|surface|7|22", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "front", + "distance_3d": 0.168 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "front", + "distance_3d": 0.212 + }, + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "back", + "distance_3d": 0.075 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.212 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "front", + "distance_3d": 0.075 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.168 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 652, + 20, + 693, + 36 + ], + [ + 565, + 0, + 624, + 35 + ], + [ + 561, + 0, + 572, + 34 + ], + [ + 637, + 32, + 654, + 35 + ], + [ + 566, + 0, + 573, + 27 + ] + ], + "distances_to_camera": [ + 2.858, + 3.282, + 3.367, + 3.275, + 3.552 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Box|surface|7|17", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 127, + 130, + 200, + 156 + ], + [ + 113, + 136, + 133, + 142 + ] + ], + "distances_to_camera": [ + 2.581, + 3.369 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-left", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-right", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 413, + 38, + 416, + 43 + ], + [ + 366, + 0, + 472, + 45 + ] + ], + "distances_to_camera": [ + 4.474, + 4.31 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17" + ], + "bounding_boxes": [ + [ + 416, + 0, + 435, + 4 + ], + [ + 344, + 0, + 371, + 6 + ] + ], + "distances_to_camera": [ + 3.085, + 3.357 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + } + ], + "Box|surface|7|17": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 0, + 309, + 122, + 393 + ] + ], + "distances_to_camera": [ + 1.719 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 117, + 8, + 122, + 11 + ], + [ + 126, + 14, + 142, + 16 + ], + [ + 122, + 10, + 147, + 13 + ], + [ + 17, + 0, + 215, + 24 + ] + ], + "distances_to_camera": [ + 4.079, + 3.875, + 3.94, + 3.931 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2", + "RemoteControl|surface|7|22", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "front", + "distance_3d": 0.168 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "front", + "distance_3d": 0.212 + }, + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "back", + "distance_3d": 0.075 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.212 + }, + { + "object": "Television|7|0|2", + "direction": "back-left", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "front", + "distance_3d": 0.075 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.168 + }, + { + "object": "Television|7|0|2", + "direction": "left", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "right", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "front-right", + "distance_3d": 0.491 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 414, + 0, + 437, + 6 + ], + [ + 343, + 0, + 370, + 7 + ], + [ + 324, + 0, + 328, + 6 + ], + [ + 390, + 3, + 416, + 6 + ], + [ + 320, + 0, + 335, + 6 + ] + ], + "distances_to_camera": [ + 3.085, + 3.357, + 3.367, + 3.467, + 3.566 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 111, + 14, + 118, + 22 + ], + [ + 7, + 0, + 214, + 27 + ] + ], + "distances_to_camera": [ + 4.079, + 3.931 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Box|surface|7|17", + "Candle|surface|7|26" + ], + "bounding_boxes": [ + [ + 192, + 0, + 233, + 13 + ], + [ + 159, + 0, + 174, + 6 + ] + ], + "distances_to_camera": [ + 3.138, + 3.109 + ], + "positions_3d": [ + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Candle|surface|7|26", + "Box|surface|7|17" + ], + "Q2_rel": { + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + } + ], + "Candle|surface|7|26": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 0, + 466, + 163, + 599 + ] + ], + "distances_to_camera": [ + 1.206 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 24, + 14, + 47 + ] + ], + "distances_to_camera": [ + 3.487 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 596, + 70, + 617, + 78 + ] + ], + "distances_to_camera": [ + 4.026 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "CounterTop|6|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 0, + 16, + 9, + 20 + ] + ], + "distances_to_camera": [ + 3.664 + ], + "positions_3d": [ + [ + 8.25, + 0.939, + 4.086 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 675, + 320, + 799, + 434 + ] + ], + "distances_to_camera": [ + 1.637 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang45_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 599, + 90, + 621, + 94 + ] + ], + "distances_to_camera": [ + 4.026 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 548, + 48, + 549, + 50 + ], + [ + 536, + 44, + 544, + 46 + ] + ], + "distances_to_camera": [ + 6.857, + 7.584 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|42", + "direction": "front", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 396, + 66, + 410, + 69 + ] + ], + "distances_to_camera": [ + 4.4 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 306, + 3, + 329, + 10 + ], + [ + 308, + 0, + 317, + 1 + ], + [ + 280, + 0, + 292, + 2 + ] + ], + "distances_to_camera": [ + 7.088, + 7.738, + 7.759 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-left", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "left", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "right", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-right", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 573, + 18, + 599, + 39 + ] + ], + "distances_to_camera": [ + 4.954 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 597, + 181, + 680, + 222 + ], + [ + 735, + 199, + 761, + 218 + ] + ], + "distances_to_camera": [ + 2.438, + 3.056 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step6/meta/pre_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 396, + 102, + 410, + 104 + ] + ], + "distances_to_camera": [ + 4.4 + ], + "positions_3d": [ + [ + 4.396, + 0.322, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 315, + 73, + 336, + 76 + ], + [ + 317, + 72, + 326, + 73 + ], + [ + 298, + 73, + 304, + 74 + ] + ], + "distances_to_camera": [ + 7.088, + 7.738, + 7.759 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-left", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "left", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "right", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-right", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + }, + { + "receptacle": "Dresser|2|1", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|2|36", + "KeyChain|surface|2|37", + "Mug|surface|2|30" + ], + "bounding_boxes": [ + [ + 292, + 25, + 293, + 25 + ], + [ + 319, + 25, + 320, + 25 + ], + [ + 305, + 20, + 310, + 25 + ] + ], + "distances_to_camera": [ + 9.008, + 8.839, + 9.043 + ], + "positions_3d": [ + [ + 0.222, + 1.153, + 4.108 + ], + [ + 0.222, + 1.152, + 4.69 + ], + [ + 0.093, + 1.152, + 4.399 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|2|37", + "KeyChain|surface|2|36", + "Mug|surface|2|30" + ], + "Q2_rel": { + "KeyChain|surface|2|36": [ + { + "object": "Mug|surface|2|30", + "direction": "overlapping/extremely close", + "distance_3d": 0.318 + }, + { + "object": "KeyChain|surface|2|37", + "direction": "front-right", + "distance_3d": 0.582 + } + ], + "KeyChain|surface|2|37": [ + { + "object": "Mug|surface|2|30", + "direction": "back", + "distance_3d": 0.318 + }, + { + "object": "KeyChain|surface|2|36", + "direction": "back-left", + "distance_3d": 0.582 + } + ], + "Mug|surface|2|30": [ + { + "object": "KeyChain|surface|2|36", + "direction": "overlapping/extremely close", + "distance_3d": 0.318 + }, + { + "object": "KeyChain|surface|2|37", + "direction": "front", + "distance_3d": 0.318 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 3 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 566, + 58, + 590, + 78 + ] + ], + "distances_to_camera": [ + 4.954 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___1", + "relation": "supports", + "room": "room0", + "members": [ + "DeskLamp|surface|7|18" + ], + "bounding_boxes": [ + [ + 598, + 0, + 624, + 21 + ] + ], + "distances_to_camera": [ + 4.936 + ], + "positions_3d": [ + [ + 4.212, + 1.064, + 8.937 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "DeskLamp|surface|7|18" + ], + "Q2_rel": { + "DeskLamp|surface|7|18": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 635, + 155, + 745, + 195 + ], + [ + 796, + 179, + 799, + 181 + ] + ], + "distances_to_camera": [ + 2.438, + 3.056 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + } + ] + }, + "place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7": { + "status": "post-place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 389, + 144, + 410, + 166 + ] + ], + "distances_to_camera": [ + 1.35 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "CounterTop|6|0", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Cup|surface|6|12", + "Plate|surface|6|8" + ], + "bounding_boxes": [ + [ + 276, + 0, + 279, + 0 + ], + [ + 290, + 0, + 298, + 1 + ], + [ + 197, + 0, + 204, + 0 + ] + ], + "distances_to_camera": [ + 4.262, + 4.231, + 4.631 + ], + "positions_3d": [ + [ + 8.403, + 1.004, + 4.086 + ], + [ + 8.25, + 0.939, + 4.086 + ], + [ + 9.17, + 0.939, + 3.931 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12", + "Apple|surface|6|10", + "Plate|surface|6|8" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Cup|surface|6|12", + "direction": "right", + "distance_3d": 0.166 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.785 + } + ], + "Cup|surface|6|12": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.166 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.933 + } + ], + "Plate|surface|6|8": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.785 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.933 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19" + ], + "bounding_boxes": [ + [ + 0, + 108, + 30, + 136 + ] + ], + "distances_to_camera": [ + 2.472 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 529, + 503, + 674, + 599 + ] + ], + "distances_to_camera": [ + 0.858 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang0_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 386, + 54, + 414, + 59 + ] + ], + "distances_to_camera": [ + 1.35 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "CounterTop|6|0", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bread|surface|6|1", + "CoffeeMachine|surface|6|0", + "Cup|surface|6|12", + "Kettle|surface|6|3", + "Mug|surface|6|2", + "Plate|surface|6|8", + "Pot|surface|6|5", + "Spatula|surface|6|9" + ], + "bounding_boxes": [ + [ + 277, + 21, + 287, + 35 + ], + [ + 261, + 17, + 288, + 36 + ], + [ + 133, + 0, + 191, + 36 + ], + [ + 291, + 16, + 301, + 36 + ], + [ + 192, + 36, + 192, + 36 + ], + [ + 212, + 30, + 221, + 36 + ], + [ + 201, + 35, + 222, + 36 + ], + [ + 234, + 17, + 260, + 36 + ], + [ + 250, + 35, + 278, + 36 + ] + ], + "distances_to_camera": [ + 4.262, + 4.599, + 5.05, + 4.231, + 5.497, + 6.072, + 4.631, + 4.752, + 4.485 + ], + "positions_3d": [ + [ + 8.403, + 1.004, + 4.086 + ], + [ + 8.557, + 1.016, + 3.776 + ], + [ + 9.703, + 0.938, + 3.706 + ], + [ + 8.25, + 0.939, + 4.086 + ], + [ + 9.78, + 0.943, + 3.249 + ], + [ + 9.626, + 0.939, + 2.563 + ], + [ + 9.17, + 0.939, + 3.931 + ], + [ + 8.863, + 0.938, + 3.698 + ], + [ + 8.71, + 0.946, + 3.931 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12", + "Apple|surface|6|10", + "Spatula|surface|6|9", + "Bread|surface|6|1", + "Plate|surface|6|8", + "Pot|surface|6|5", + "CoffeeMachine|surface|6|0", + "Kettle|surface|6|3", + "Mug|surface|6|2" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Cup|surface|6|12", + "direction": "overlapping/extremely close", + "distance_3d": 0.166 + }, + { + "object": "Bread|surface|6|1", + "direction": "back", + "distance_3d": 0.346 + }, + { + "object": "Spatula|surface|6|9", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "Pot|surface|6|5", + "direction": "back-left", + "distance_3d": 0.605 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.785 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 1.356 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.613 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 1.954 + } + ], + "Bread|surface|6|1": [ + { + "object": "Spatula|surface|6|9", + "direction": "front", + "distance_3d": 0.229 + }, + { + "object": "Pot|surface|6|5", + "direction": "back-left", + "distance_3d": 0.325 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.346 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.443 + }, + { + "object": "Plate|surface|6|8", + "direction": "left", + "distance_3d": 0.637 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 1.151 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.334 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 1.619 + } + ], + "CoffeeMachine|surface|6|0": [ + { + "object": "Kettle|surface|6|3", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|6|8", + "direction": "front-right", + "distance_3d": 0.579 + }, + { + "object": "Pot|surface|6|5", + "direction": "front-right", + "distance_3d": 0.84 + }, + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 1.018 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-right", + "distance_3d": 1.146 + }, + { + "object": "Bread|surface|6|1", + "direction": "front-right", + "distance_3d": 1.151 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 1.356 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 1.502 + } + ], + "Cup|surface|6|12": [ + { + "object": "Apple|surface|6|10", + "direction": "overlapping/extremely close", + "distance_3d": 0.166 + }, + { + "object": "Bread|surface|6|1", + "direction": "back-left", + "distance_3d": 0.443 + }, + { + "object": "Spatula|surface|6|9", + "direction": "back-left", + "distance_3d": 0.485 + }, + { + "object": "Pot|surface|6|5", + "direction": "back-left", + "distance_3d": 0.725 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.933 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 1.502 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.744 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 2.053 + } + ], + "Kettle|surface|6|3": [ + { + "object": "CoffeeMachine|surface|6|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-right", + "distance_3d": 0.703 + }, + { + "object": "Plate|surface|6|8", + "direction": "front-right", + "distance_3d": 0.915 + }, + { + "object": "Pot|surface|6|5", + "direction": "front-right", + "distance_3d": 1.021 + }, + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 1.269 + }, + { + "object": "Bread|surface|6|1", + "direction": "front-right", + "distance_3d": 1.334 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 1.613 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 1.744 + } + ], + "Mug|surface|6|2": [ + { + "object": "Kettle|surface|6|3", + "direction": "front-left", + "distance_3d": 0.703 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "front-left", + "distance_3d": 1.146 + }, + { + "object": "Pot|surface|6|5", + "direction": "front-right", + "distance_3d": 1.368 + }, + { + "object": "Plate|surface|6|8", + "direction": "front", + "distance_3d": 1.442 + }, + { + "object": "Bread|surface|6|1", + "direction": "front-right", + "distance_3d": 1.619 + }, + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 1.646 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 1.954 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 2.053 + } + ], + "Plate|surface|6|8": [ + { + "object": "Pot|surface|6|5", + "direction": "back-right", + "distance_3d": 0.385 + }, + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 0.46 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 0.579 + }, + { + "object": "Bread|surface|6|1", + "direction": "right", + "distance_3d": 0.637 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.785 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 0.915 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.933 + }, + { + "object": "Mug|surface|6|2", + "direction": "back", + "distance_3d": 1.442 + } + ], + "Pot|surface|6|5": [ + { + "object": "Spatula|surface|6|9", + "direction": "front-right", + "distance_3d": 0.279 + }, + { + "object": "Bread|surface|6|1", + "direction": "front-right", + "distance_3d": 0.325 + }, + { + "object": "Plate|surface|6|8", + "direction": "front-left", + "distance_3d": 0.385 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.605 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.725 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 0.84 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.021 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 1.368 + } + ], + "Spatula|surface|6|9": [ + { + "object": "Bread|surface|6|1", + "direction": "back", + "distance_3d": 0.229 + }, + { + "object": "Pot|surface|6|5", + "direction": "back-left", + "distance_3d": 0.279 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Plate|surface|6|8", + "direction": "back-left", + "distance_3d": 0.46 + }, + { + "object": "Cup|surface|6|12", + "direction": "front-right", + "distance_3d": 0.485 + }, + { + "object": "CoffeeMachine|surface|6|0", + "direction": "back-left", + "distance_3d": 1.018 + }, + { + "object": "Kettle|surface|6|3", + "direction": "back-left", + "distance_3d": 1.269 + }, + { + "object": "Mug|surface|6|2", + "direction": "back-left", + "distance_3d": 1.646 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + } + ] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 378, + 141, + 420, + 166 + ] + ], + "distances_to_camera": [ + 1.237 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 295, + 0, + 314, + 9 + ] + ], + "distances_to_camera": [ + 4.967 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 454, + 97, + 510, + 135 + ], + [ + 511, + 87, + 532, + 95 + ] + ], + "distances_to_camera": [ + 2.883, + 3.64 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 370, + 33, + 428, + 39 + ] + ], + "distances_to_camera": [ + 1.237 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 309, + 35, + 318, + 56 + ] + ], + "distances_to_camera": [ + 4.967 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 461, + 101, + 518, + 133 + ], + [ + 515, + 106, + 536, + 111 + ] + ], + "distances_to_camera": [ + 2.883, + 3.64 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 387, + 140, + 411, + 167 + ] + ], + "distances_to_camera": [ + 1.159 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 25, + 11, + 53, + 45 + ] + ], + "distances_to_camera": [ + 4.526 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 331, + 82, + 378, + 114 + ], + [ + 356, + 66, + 359, + 68 + ] + ], + "distances_to_camera": [ + 2.857, + 3.66 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 711, + 25, + 721, + 31 + ], + [ + 716, + 22, + 732, + 32 + ], + [ + 676, + 0, + 799, + 53 + ] + ], + "distances_to_camera": [ + 3.796, + 3.838, + 3.837 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2", + "RemoteControl|surface|7|22" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "right", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "left", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 381, + 16, + 416, + 23 + ] + ], + "distances_to_camera": [ + 1.159 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 17, + 25, + 49, + 56 + ] + ], + "distances_to_camera": [ + 4.526 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 327, + 86, + 376, + 110 + ], + [ + 372, + 89, + 372, + 89 + ] + ], + "distances_to_camera": [ + 2.857, + 3.66 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 732, + 16, + 739, + 24 + ], + [ + 734, + 25, + 740, + 25 + ], + [ + 667, + 0, + 799, + 30 + ] + ], + "distances_to_camera": [ + 4.004, + 3.838, + 3.837 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "RemoteControl|surface|7|22", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "front", + "distance_3d": 0.168 + }, + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.168 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 380, + 142, + 414, + 166 + ] + ], + "distances_to_camera": [ + 1.282 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 633, + 43, + 668, + 64 + ], + [ + 558, + 0, + 621, + 47 + ], + [ + 554, + 0, + 571, + 29 + ], + [ + 627, + 34, + 670, + 45 + ], + [ + 566, + 6, + 569, + 15 + ] + ], + "distances_to_camera": [ + 2.858, + 3.282, + 3.367, + 3.275, + 3.552 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Box|surface|7|17", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 163, + 146, + 232, + 192 + ], + [ + 139, + 134, + 166, + 145 + ] + ], + "distances_to_camera": [ + 2.581, + 3.369 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-left", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-right", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 414, + 2, + 417, + 3 + ], + [ + 413, + 6, + 422, + 9 + ], + [ + 413, + 4, + 428, + 8 + ], + [ + 386, + 0, + 472, + 16 + ] + ], + "distances_to_camera": [ + 4.474, + 4.262, + 4.317, + 4.31 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2", + "RemoteControl|surface|7|22", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "front", + "distance_3d": 0.168 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "front", + "distance_3d": 0.212 + }, + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "back", + "distance_3d": 0.075 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.212 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "front", + "distance_3d": 0.075 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.168 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 373, + 42, + 419, + 47 + ] + ], + "distances_to_camera": [ + 1.282 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 652, + 20, + 693, + 36 + ], + [ + 565, + 0, + 624, + 35 + ], + [ + 561, + 0, + 572, + 34 + ], + [ + 637, + 32, + 654, + 35 + ], + [ + 566, + 0, + 573, + 27 + ] + ], + "distances_to_camera": [ + 2.858, + 3.282, + 3.367, + 3.275, + 3.552 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Box|surface|7|17", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 127, + 130, + 200, + 156 + ], + [ + 113, + 136, + 133, + 142 + ] + ], + "distances_to_camera": [ + 2.581, + 3.369 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-left", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-right", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 413, + 38, + 416, + 42 + ], + [ + 366, + 0, + 472, + 45 + ] + ], + "distances_to_camera": [ + 4.474, + 4.31 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 378, + 145, + 422, + 160 + ] + ], + "distances_to_camera": [ + 1.162 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17" + ], + "bounding_boxes": [ + [ + 416, + 0, + 435, + 4 + ], + [ + 344, + 0, + 371, + 6 + ] + ], + "distances_to_camera": [ + 3.085, + 3.357 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + } + ], + "Box|surface|7|17": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 0, + 309, + 122, + 393 + ] + ], + "distances_to_camera": [ + 1.719 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 117, + 8, + 122, + 11 + ], + [ + 126, + 14, + 142, + 16 + ], + [ + 122, + 10, + 147, + 13 + ], + [ + 17, + 0, + 215, + 24 + ] + ], + "distances_to_camera": [ + 4.079, + 3.875, + 3.94, + 3.931 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2", + "RemoteControl|surface|7|22", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "front", + "distance_3d": 0.168 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "front", + "distance_3d": 0.212 + }, + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "back", + "distance_3d": 0.075 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.212 + }, + { + "object": "Television|7|0|2", + "direction": "back-left", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "front", + "distance_3d": 0.075 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.168 + }, + { + "object": "Television|7|0|2", + "direction": "left", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "right", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "front-right", + "distance_3d": 0.491 + }, + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 4, + "Q4_count": 4 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 368, + 17, + 433, + 22 + ] + ], + "distances_to_camera": [ + 1.162 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 414, + 0, + 437, + 6 + ], + [ + 343, + 0, + 370, + 7 + ], + [ + 324, + 0, + 328, + 6 + ], + [ + 390, + 3, + 416, + 6 + ], + [ + 320, + 0, + 335, + 6 + ] + ], + "distances_to_camera": [ + 3.085, + 3.357, + 3.367, + 3.467, + 3.566 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 111, + 14, + 118, + 22 + ], + [ + 7, + 0, + 214, + 27 + ] + ], + "distances_to_camera": [ + 4.079, + 3.931 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 375, + 140, + 424, + 167 + ] + ], + "distances_to_camera": [ + 1.086 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Box|surface|7|17", + "Candle|surface|7|26" + ], + "bounding_boxes": [ + [ + 192, + 0, + 233, + 13 + ], + [ + 159, + 0, + 174, + 6 + ] + ], + "distances_to_camera": [ + 3.138, + 3.109 + ], + "positions_3d": [ + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Candle|surface|7|26", + "Box|surface|7|17" + ], + "Q2_rel": { + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + } + ], + "Candle|surface|7|26": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 0, + 466, + 163, + 599 + ] + ], + "distances_to_camera": [ + 1.206 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 24, + 14, + 47 + ] + ], + "distances_to_camera": [ + 3.487 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang315_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 362, + 0, + 437, + 5 + ] + ], + "distances_to_camera": [ + 1.086 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 378, + 140, + 414, + 166 + ] + ], + "distances_to_camera": [ + 1.195 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "CounterTop|6|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 0, + 16, + 9, + 20 + ] + ], + "distances_to_camera": [ + 3.664 + ], + "positions_3d": [ + [ + 8.25, + 0.939, + 4.086 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 675, + 320, + 799, + 434 + ] + ], + "distances_to_camera": [ + 1.637 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang45_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 548, + 48, + 549, + 50 + ], + [ + 536, + 44, + 544, + 46 + ] + ], + "distances_to_camera": [ + 6.857, + 7.584 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|44", + "direction": "back", + "distance_3d": 0.847 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|42", + "direction": "front", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + }, + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 369, + 24, + 420, + 30 + ] + ], + "distances_to_camera": [ + 1.195 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 306, + 3, + 329, + 10 + ], + [ + 308, + 0, + 317, + 1 + ], + [ + 280, + 0, + 292, + 2 + ] + ], + "distances_to_camera": [ + 7.088, + 7.738, + 7.759 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-left", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "left", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "right", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-right", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + }, + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 380, + 149, + 419, + 157 + ] + ], + "distances_to_camera": [ + 1.347 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 573, + 18, + 599, + 39 + ] + ], + "distances_to_camera": [ + 4.954 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 597, + 181, + 680, + 222 + ], + [ + 735, + 199, + 761, + 218 + ] + ], + "distances_to_camera": [ + 2.438, + 3.056 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action3/place_CellPhone|surface|2|50_from_ArmChair|7|4|0_to_Cart|7|2_1771164129040_step7/meta/post_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 315, + 73, + 336, + 76 + ], + [ + 317, + 72, + 326, + 73 + ], + [ + 298, + 73, + 304, + 74 + ] + ], + "distances_to_camera": [ + 7.088, + 7.738, + 7.759 + ], + "positions_3d": [ + [ + 1.926, + 0.41, + 5.147 + ], + [ + 1.314, + 0.411, + 4.916 + ], + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|42", + "Book|surface|2|43", + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|42": [ + { + "object": "Book|surface|2|43", + "direction": "back", + "distance_3d": 0.654 + }, + { + "object": "Book|surface|2|44", + "direction": "back-left", + "distance_3d": 0.847 + } + ], + "Book|surface|2|43": [ + { + "object": "Book|surface|2|44", + "direction": "left", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front", + "distance_3d": 0.654 + } + ], + "Book|surface|2|44": [ + { + "object": "Book|surface|2|43", + "direction": "right", + "distance_3d": 0.477 + }, + { + "object": "Book|surface|2|42", + "direction": "front-right", + "distance_3d": 0.847 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 3 + } + }, + { + "receptacle": "Cart|7|2", + "relation": "supports", + "room": "room0", + "members": [ + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 373, + 54, + 425, + 58 + ] + ], + "distances_to_camera": [ + 1.347 + ], + "positions_3d": [ + [ + 7.407, + 0.857, + 6.904 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "CellPhone|surface|2|50": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Dresser|2|1", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|2|36", + "KeyChain|surface|2|37", + "Mug|surface|2|30" + ], + "bounding_boxes": [ + [ + 292, + 25, + 293, + 25 + ], + [ + 319, + 25, + 320, + 25 + ], + [ + 305, + 20, + 310, + 25 + ] + ], + "distances_to_camera": [ + 9.008, + 8.839, + 9.043 + ], + "positions_3d": [ + [ + 0.222, + 1.153, + 4.108 + ], + [ + 0.222, + 1.152, + 4.69 + ], + [ + 0.093, + 1.152, + 4.399 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|2|37", + "KeyChain|surface|2|36", + "Mug|surface|2|30" + ], + "Q2_rel": { + "KeyChain|surface|2|36": [ + { + "object": "Mug|surface|2|30", + "direction": "overlapping/extremely close", + "distance_3d": 0.318 + }, + { + "object": "KeyChain|surface|2|37", + "direction": "front-right", + "distance_3d": 0.582 + } + ], + "KeyChain|surface|2|37": [ + { + "object": "Mug|surface|2|30", + "direction": "back", + "distance_3d": 0.318 + }, + { + "object": "KeyChain|surface|2|36", + "direction": "back-left", + "distance_3d": 0.582 + } + ], + "Mug|surface|2|30": [ + { + "object": "KeyChain|surface|2|36", + "direction": "overlapping/extremely close", + "distance_3d": 0.318 + }, + { + "object": "KeyChain|surface|2|37", + "direction": "front", + "distance_3d": 0.318 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 3 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 566, + 58, + 590, + 78 + ] + ], + "distances_to_camera": [ + 4.954 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___1", + "relation": "supports", + "room": "room0", + "members": [ + "DeskLamp|surface|7|18" + ], + "bounding_boxes": [ + [ + 598, + 0, + 624, + 21 + ] + ], + "distances_to_camera": [ + 4.936 + ], + "positions_3d": [ + [ + 4.212, + 1.064, + 8.937 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "DeskLamp|surface|7|18" + ], + "Q2_rel": { + "DeskLamp|surface|7|18": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 635, + 155, + 745, + 195 + ], + [ + 796, + 179, + 799, + 181 + ] + ], + "distances_to_camera": [ + 2.438, + 3.056 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + } + ] + } + } + }, + "action4": { + "steps": { + "place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8": { + "status": "pre-place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 406, + 47, + 451, + 68 + ], + [ + 361, + 61, + 495, + 179 + ], + [ + 383, + 105, + 413, + 221 + ], + [ + 312, + 82, + 364, + 119 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.51, + 0.967, + 0.709, + 1.318, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 261, + 165, + 330, + 221 + ], + [ + 325, + 17, + 456, + 139 + ], + [ + 444, + 0, + 461, + 88 + ], + [ + 395, + 166, + 480, + 233 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 449, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.716, + 1.08, + 1.317, + 0.686, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27", + "Candle|surface|7|26" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 304, + 163, + 365, + 210 + ], + [ + 332, + 40, + 436, + 131 + ], + [ + 418, + 0, + 424, + 39 + ], + [ + 421, + 152, + 489, + 192 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 436, + 108, + 453, + 119 + ] + ], + "distances_to_camera": [ + 0.833, + 1.322, + 1.562, + 0.956, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "Television|7|0|2": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 393, + 171, + 454, + 218 + ], + [ + 308, + 39, + 422, + 153 + ], + [ + 352, + 0, + 362, + 50 + ], + [ + 438, + 120, + 518, + 166 + ], + [ + 375, + 8, + 418, + 52 + ], + [ + 420, + 99, + 422, + 107 + ] + ], + "distances_to_camera": [ + 0.786, + 1.368, + 1.562, + 1.173, + 1.68, + 1.424 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 478, + 130, + 531, + 169 + ], + [ + 334, + 57, + 396, + 169 + ], + [ + 290, + 32, + 324, + 131 + ], + [ + 427, + 94, + 481, + 120 + ], + [ + 285, + 33, + 332, + 106 + ] + ], + "distances_to_camera": [ + 1.142, + 1.363, + 1.388, + 1.487, + 1.583 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 481, + 83, + 531, + 121 + ], + [ + 321, + 56, + 452, + 192 + ], + [ + 276, + 67, + 323, + 181 + ], + [ + 401, + 68, + 443, + 89 + ], + [ + 225, + 65, + 290, + 153 + ] + ], + "distances_to_camera": [ + 1.314, + 1.11, + 0.961, + 1.431, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Candle|surface|7|26", + "Box|surface|7|17", + "Vase|surface|7|27", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 358, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 358, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step8/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9": { + "status": "post-place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 363, + 102, + 364, + 110 + ], + [ + 406, + 47, + 451, + 68 + ], + [ + 361, + 61, + 495, + 179 + ], + [ + 383, + 105, + 413, + 221 + ], + [ + 312, + 82, + 364, + 119 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.179, + 1.51, + 0.967, + 0.709, + 1.318, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 398, + 125, + 427, + 164 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 325, + 17, + 456, + 139 + ], + [ + 444, + 0, + 461, + 88 + ], + [ + 395, + 166, + 480, + 233 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 449, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.85, + 0.716, + 1.08, + 1.317, + 0.686, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27", + "Candle|surface|7|26" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 406, + 116, + 431, + 151 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 332, + 40, + 436, + 131 + ], + [ + 418, + 0, + 424, + 39 + ], + [ + 421, + 152, + 489, + 192 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 436, + 108, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.087, + 0.833, + 1.322, + 1.562, + 0.956, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "Television|7|0|2": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 418, + 107, + 442, + 140 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 308, + 39, + 422, + 153 + ], + [ + 352, + 0, + 362, + 50 + ], + [ + 438, + 120, + 518, + 166 + ], + [ + 375, + 8, + 418, + 52 + ], + [ + 420, + 99, + 422, + 107 + ] + ], + "distances_to_camera": [ + 1.178, + 0.786, + 1.368, + 1.562, + 1.173, + 1.68, + 1.424 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 412, + 94, + 434, + 125 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 334, + 57, + 396, + 169 + ], + [ + 290, + 32, + 324, + 131 + ], + [ + 430, + 94, + 481, + 120 + ], + [ + 285, + 33, + 332, + 106 + ] + ], + "distances_to_camera": [ + 1.343, + 1.142, + 1.363, + 1.388, + 1.487, + 1.583 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Apple|surface|6|10", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.203 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.203 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 481, + 83, + 531, + 121 + ], + [ + 321, + 56, + 452, + 192 + ], + [ + 276, + 67, + 323, + 181 + ], + [ + 401, + 68, + 443, + 89 + ], + [ + 225, + 65, + 290, + 153 + ] + ], + "distances_to_camera": [ + 1.314, + 1.11, + 0.961, + 1.431, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Candle|surface|7|26", + "Box|surface|7|17", + "Vase|surface|7|27", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 355, + 100, + 358, + 119 + ], + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 356, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.932, + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 355, + 100, + 358, + 119 + ], + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 356, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.932, + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action4/place_Apple|surface|6|10_from_CounterTop|6|0_to_DiningTable|7|1_1771164144931_step9/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action5": { + "steps": { + "place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10": { + "status": "pre-place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 363, + 102, + 364, + 110 + ], + [ + 406, + 47, + 451, + 68 + ], + [ + 361, + 61, + 495, + 179 + ], + [ + 383, + 105, + 413, + 221 + ], + [ + 312, + 82, + 364, + 119 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.179, + 1.51, + 0.967, + 0.709, + 1.318, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 398, + 125, + 427, + 164 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 325, + 17, + 456, + 139 + ], + [ + 444, + 0, + 461, + 88 + ], + [ + 395, + 166, + 480, + 233 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 449, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.85, + 0.716, + 1.08, + 1.317, + 0.686, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27", + "Candle|surface|7|26" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 406, + 116, + 431, + 151 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 332, + 40, + 436, + 131 + ], + [ + 418, + 0, + 424, + 39 + ], + [ + 421, + 152, + 489, + 192 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 436, + 108, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.087, + 0.833, + 1.322, + 1.562, + 0.956, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "Television|7|0|2": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 418, + 107, + 442, + 140 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 308, + 39, + 422, + 153 + ], + [ + 352, + 0, + 362, + 50 + ], + [ + 438, + 120, + 518, + 166 + ], + [ + 375, + 8, + 418, + 52 + ], + [ + 420, + 99, + 422, + 107 + ] + ], + "distances_to_camera": [ + 1.178, + 0.786, + 1.368, + 1.562, + 1.173, + 1.68, + 1.424 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 412, + 94, + 434, + 125 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 334, + 57, + 396, + 169 + ], + [ + 290, + 32, + 324, + 131 + ], + [ + 430, + 94, + 481, + 120 + ], + [ + 285, + 33, + 332, + 106 + ] + ], + "distances_to_camera": [ + 1.343, + 1.142, + 1.363, + 1.388, + 1.487, + 1.583 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Apple|surface|6|10", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.203 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.203 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 481, + 83, + 531, + 121 + ], + [ + 321, + 56, + 452, + 192 + ], + [ + 276, + 67, + 323, + 181 + ], + [ + 401, + 68, + 443, + 89 + ], + [ + 225, + 65, + 290, + 153 + ] + ], + "distances_to_camera": [ + 1.314, + 1.11, + 0.961, + 1.431, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Candle|surface|7|26", + "Box|surface|7|17", + "Vase|surface|7|27", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 5, + "Q4_count": 5 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 355, + 100, + 358, + 119 + ], + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 356, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.932, + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 355, + 100, + 358, + 119 + ], + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 356, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.932, + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step10/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11": { + "status": "post-place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 363, + 102, + 364, + 110 + ], + [ + 406, + 47, + 451, + 68 + ], + [ + 361, + 61, + 495, + 179 + ], + [ + 383, + 105, + 413, + 221 + ], + [ + 312, + 82, + 364, + 119 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.179, + 1.51, + 0.967, + 0.709, + 1.318, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 398, + 125, + 427, + 164 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 325, + 17, + 456, + 139 + ], + [ + 444, + 0, + 461, + 88 + ], + [ + 336, + 152, + 377, + 196 + ], + [ + 395, + 166, + 480, + 233 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 449, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.85, + 0.716, + 1.08, + 1.317, + 0.804, + 0.686, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27", + "Candle|surface|7|26" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.199 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.212 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.48 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.199 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.375 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 406, + 116, + 431, + 151 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 332, + 40, + 436, + 131 + ], + [ + 418, + 0, + 424, + 39 + ], + [ + 363, + 150, + 387, + 182 + ], + [ + 421, + 152, + 489, + 192 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 436, + 108, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.087, + 0.833, + 1.322, + 1.562, + 0.987, + 0.956, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Apple|surface|6|10", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.199 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.212 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.48 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.199 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.422 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.284 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.375 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "Television|7|0|2": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 418, + 107, + 442, + 140 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 308, + 39, + 422, + 153 + ], + [ + 352, + 0, + 362, + 50 + ], + [ + 392, + 151, + 439, + 173 + ], + [ + 438, + 120, + 518, + 166 + ], + [ + 375, + 8, + 418, + 52 + ], + [ + 420, + 99, + 422, + 107 + ] + ], + "distances_to_camera": [ + 1.178, + 0.786, + 1.368, + 1.562, + 0.996, + 1.173, + 1.68, + 1.424 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.199 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.212 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.199 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.203 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 412, + 94, + 434, + 125 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 334, + 57, + 396, + 169 + ], + [ + 290, + 32, + 324, + 131 + ], + [ + 428, + 137, + 473, + 152 + ], + [ + 430, + 94, + 481, + 120 + ], + [ + 285, + 33, + 332, + 106 + ] + ], + "distances_to_camera": [ + 1.343, + 1.142, + 1.363, + 1.388, + 1.203, + 1.487, + 1.583 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Apple|surface|6|10", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.199 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.203 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.212 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.48 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.199 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.203 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 481, + 83, + 531, + 121 + ], + [ + 321, + 56, + 452, + 192 + ], + [ + 276, + 67, + 323, + 181 + ], + [ + 448, + 107, + 472, + 133 + ], + [ + 401, + 68, + 443, + 89 + ], + [ + 225, + 65, + 290, + 153 + ] + ], + "distances_to_camera": [ + 1.314, + 1.11, + 0.961, + 1.22, + 1.431, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Candle|surface|7|26", + "Box|surface|7|17", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 355, + 100, + 358, + 119 + ], + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 356, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.932, + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 355, + 100, + 358, + 119 + ], + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 356, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.932, + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action5/place_CellPhone|surface|2|50_from_Cart|7|2_to_DiningTable|7|1_1771164165672_step11/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action6": { + "steps": { + "spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12": { + "status": "pre-spawn_Bread_7_in_DiningTable|7|1_1771164177428", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 363, + 102, + 364, + 110 + ], + [ + 406, + 47, + 451, + 68 + ], + [ + 361, + 61, + 495, + 179 + ], + [ + 383, + 105, + 413, + 221 + ], + [ + 312, + 82, + 364, + 119 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.179, + 1.51, + 0.967, + 0.709, + 1.318, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 398, + 125, + 427, + 164 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 325, + 17, + 456, + 139 + ], + [ + 444, + 0, + 461, + 88 + ], + [ + 336, + 152, + 377, + 196 + ], + [ + 395, + 166, + 480, + 233 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 449, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.85, + 0.716, + 1.08, + 1.317, + 0.804, + 0.686, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27", + "Candle|surface|7|26" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.199 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.212 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.48 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.199 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.375 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 406, + 116, + 431, + 151 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 332, + 40, + 436, + 131 + ], + [ + 418, + 0, + 424, + 39 + ], + [ + 363, + 150, + 387, + 182 + ], + [ + 421, + 152, + 489, + 192 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 436, + 108, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.087, + 0.833, + 1.322, + 1.562, + 0.987, + 0.956, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Apple|surface|6|10", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.199 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.212 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.48 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.199 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.422 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-right", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.284 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.375 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "Television|7|0|2": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 418, + 107, + 442, + 140 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 308, + 39, + 422, + 153 + ], + [ + 352, + 0, + 362, + 50 + ], + [ + 392, + 151, + 439, + 173 + ], + [ + 438, + 120, + 518, + 166 + ], + [ + 375, + 8, + 418, + 52 + ], + [ + 420, + 99, + 422, + 107 + ] + ], + "distances_to_camera": [ + 1.178, + 0.786, + 1.368, + 1.562, + 0.996, + 1.173, + 1.68, + 1.424 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Apple|surface|6|10", + "Box|surface|7|17", + "Watch|surface|7|20", + "Candle|surface|7|26", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.199 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.212 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "back", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.199 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.203 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 412, + 94, + 434, + 125 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 334, + 57, + 396, + 169 + ], + [ + 290, + 32, + 324, + 131 + ], + [ + 428, + 137, + 473, + 152 + ], + [ + 430, + 94, + 481, + 120 + ], + [ + 285, + 33, + 332, + 106 + ] + ], + "distances_to_camera": [ + 1.343, + 1.142, + 1.363, + 1.388, + 1.203, + 1.487, + 1.583 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Apple|surface|6|10", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.199 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.203 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.212 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.48 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.199 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Candle|surface|7|26", + "direction": "back-left", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.203 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 481, + 83, + 531, + 121 + ], + [ + 321, + 56, + 452, + 192 + ], + [ + 276, + 67, + 323, + 181 + ], + [ + 448, + 107, + 472, + 133 + ], + [ + 401, + 68, + 443, + 89 + ], + [ + 225, + 65, + 290, + 153 + ] + ], + "distances_to_camera": [ + 1.314, + 1.11, + 0.961, + 1.22, + 1.431, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.423, + 0.862, + 6.733 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Candle|surface|7|26", + "Box|surface|7|17", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.616 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.379 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.603 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.212 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.603 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.689 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.2 + }, + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.633 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.689 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 355, + 100, + 358, + 119 + ], + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 356, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.932, + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Candle|surface|7|26", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 355, + 100, + 358, + 119 + ], + [ + 400, + 26, + 453, + 70 + ], + [ + 354, + 58, + 518, + 204 + ], + [ + 389, + 144, + 425, + 258 + ], + [ + 291, + 75, + 356, + 128 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.932, + 1.274, + 0.726, + 0.468, + 1.069, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.583, + 0.926, + 6.833 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.603, + 1.063, + 7.058 + ], + [ + 9.603, + 0.861, + 7.308 + ], + [ + 9.703, + 0.861, + 6.683 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Candle|surface|7|26", + "Watch|surface|7|20", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.263 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.264 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.397 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.48 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.528 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.397 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.616 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.808 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "left", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.264 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-left", + "distance_3d": 0.321 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.379 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.438 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.616 + } + ], + "Candle|surface|7|26": [ + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.321 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.48 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.808 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.203 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.419 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.438 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.633 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.633 + } + ], + "Vase|surface|7|27": [ + { + "object": "Candle|surface|7|26", + "direction": "right", + "distance_3d": 0.2 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.379 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.528 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.633 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Box|surface|7|17", + "direction": "right", + "distance_3d": 0.225 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.263 + }, + { + "object": "Candle|surface|7|26", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.375 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step12/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13": { + "status": "post-spawn_Bread_7_in_DiningTable|7|1_1771164177428", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 350, + 116, + 368, + 151 + ], + [ + 406, + 47, + 451, + 82 + ], + [ + 364, + 75, + 508, + 204 + ], + [ + 376, + 79, + 412, + 94 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.021, + 1.51, + 0.851, + 1.091, + 1.324, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 426, + 103, + 458, + 136 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 112 + ], + [ + 368, + 77, + 429, + 162 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 457, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.99, + 0.716, + 1.198, + 0.966, + 0.797, + 0.68, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 421, + 98, + 447, + 127 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 336, + 27, + 437, + 120 + ], + [ + 378, + 82, + 422, + 151 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 447, + 109, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.244, + 0.833, + 1.44, + 1.187, + 0.98, + 0.951, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 409, + 90, + 429, + 106 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 368, + 84, + 432, + 152 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ] + ], + "distances_to_camera": [ + 1.334, + 0.786, + 1.463, + 1.209, + 0.99, + 1.174, + 1.68 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.349 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 381, + 90, + 393, + 93 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 371, + 93, + 429, + 144 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 428, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.399, + 1.142, + 1.374, + 1.266, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 481, + 83, + 531, + 121 + ], + [ + 291, + 69, + 430, + 206 + ], + [ + 395, + 82, + 435, + 132 + ], + [ + 434, + 106, + 473, + 134 + ], + [ + 377, + 68, + 443, + 92 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.314, + 1.039, + 1.117, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Box|surface|7|17", + "Bread|surface|7|0", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action6/spawn_Bread_7_in_DiningTable|7|1_1771164177428_step13/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action7": { + "steps": { + "place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14": { + "status": "pre-place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang0_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "TVStand|2|3|0", + "relation": "supports", + "room": "room0", + "members": [ + "CreditCard|surface|2|40", + "RemoteControl|surface|2|35", + "Television|2|3|1" + ], + "bounding_boxes": [ + [ + 0, + 62, + 10, + 66 + ], + [ + 0, + 47, + 6, + 51 + ], + [ + 0, + 37, + 15, + 58 + ] + ], + "distances_to_camera": [ + 4.8, + 5.189, + 4.93 + ], + "positions_3d": [ + [ + 0.477, + 0.399, + 5.85 + ], + [ + 0.086, + 0.4, + 5.85 + ], + [ + 0.32, + 0.886, + 5.692 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CreditCard|surface|2|40", + "Television|2|3|1", + "RemoteControl|surface|2|35" + ], + "Q2_rel": { + "CreditCard|surface|2|40": [ + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "back", + "distance_3d": 0.536 + } + ], + "RemoteControl|surface|2|35": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "front", + "distance_3d": 0.562 + } + ], + "Television|2|3|1": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.536 + }, + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.562 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang135_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 712, + 68, + 757, + 100 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 758, + 53, + 799, + 67 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 794, + 0, + 799, + 3 + ], + [ + 789, + 0, + 793, + 0 + ] + ], + "distances_to_camera": [ + 5.898, + 6.048 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.422, + 0.862, + 6.726 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 785, + 12, + 799, + 21 + ], + [ + 719, + 0, + 752, + 21 + ], + [ + 740, + 3, + 776, + 21 + ], + [ + 764, + 21, + 786, + 21 + ], + [ + 774, + 19, + 786, + 20 + ], + [ + 720, + 2, + 723, + 8 + ], + [ + 743, + 21, + 747, + 21 + ] + ], + "distances_to_camera": [ + 5.898, + 6.331, + 6.183, + 6.048, + 6.318, + 6.557, + 6.396 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Box|surface|7|17", + "Watch|surface|7|20", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 587, + 24, + 588, + 27 + ], + [ + 550, + 0, + 649, + 30 + ] + ], + "distances_to_camera": [ + 7.21, + 7.057 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 228, + 120, + 336 + ], + [ + 91, + 257, + 299, + 380 + ] + ], + "distances_to_camera": [ + 1.473, + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 86, + 189, + 280 + ] + ], + "distances_to_camera": [ + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1" + ], + "Q2_rel": { + "Pillow|2|2|1": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang315_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang45_high.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 184, + 22, + 202, + 31 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 776, + 130, + 799, + 160 + ] + ], + "distances_to_camera": [ + 2.598 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step14/meta/pre_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 183, + 43, + 202, + 47 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + } + ] + }, + "place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15": { + "status": "post-place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 389, + 196, + 408, + 217 + ] + ], + "distances_to_camera": [ + 1.391 + ], + "positions_3d": [ + [ + 4.396, + 0.321, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 391, + 196, + 410, + 227 + ] + ], + "distances_to_camera": [ + 1.43 + ], + "positions_3d": [ + [ + 4.396, + 0.321, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "TVStand|2|3|0", + "relation": "supports", + "room": "room0", + "members": [ + "CreditCard|surface|2|40", + "RemoteControl|surface|2|35", + "Television|2|3|1" + ], + "bounding_boxes": [ + [ + 0, + 62, + 10, + 66 + ], + [ + 0, + 47, + 6, + 51 + ], + [ + 0, + 37, + 15, + 58 + ] + ], + "distances_to_camera": [ + 4.8, + 5.189, + 4.93 + ], + "positions_3d": [ + [ + 0.477, + 0.399, + 5.85 + ], + [ + 0.086, + 0.4, + 5.85 + ], + [ + 0.32, + 0.886, + 5.692 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "CreditCard|surface|2|40", + "Television|2|3|1", + "RemoteControl|surface|2|35" + ], + "Q2_rel": { + "CreditCard|surface|2|40": [ + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "back", + "distance_3d": 0.536 + } + ], + "RemoteControl|surface|2|35": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.391 + }, + { + "object": "Television|2|3|1", + "direction": "front", + "distance_3d": 0.562 + } + ], + "Television|2|3|1": [ + { + "object": "CreditCard|surface|2|40", + "direction": "front", + "distance_3d": 0.536 + }, + { + "object": "RemoteControl|surface|2|35", + "direction": "back", + "distance_3d": 0.562 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang135_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 391, + 196, + 410, + 217 + ] + ], + "distances_to_camera": [ + 1.372 + ], + "positions_3d": [ + [ + 4.396, + 0.321, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 712, + 68, + 757, + 100 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 758, + 53, + 799, + 67 + ] + ], + "distances_to_camera": [ + 3.873 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50" + ], + "bounding_boxes": [ + [ + 794, + 0, + 799, + 3 + ], + [ + 789, + 0, + 793, + 0 + ] + ], + "distances_to_camera": [ + 5.898, + 6.048 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.422, + 0.862, + 6.726 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang225_low.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 785, + 12, + 799, + 21 + ], + [ + 719, + 0, + 752, + 21 + ], + [ + 740, + 3, + 776, + 21 + ], + [ + 764, + 21, + 786, + 21 + ], + [ + 774, + 19, + 786, + 20 + ], + [ + 720, + 2, + 723, + 8 + ], + [ + 743, + 21, + 747, + 21 + ] + ], + "distances_to_camera": [ + 5.898, + 6.331, + 6.183, + 6.048, + 6.318, + 6.557, + 6.396 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Box|surface|7|17", + "Watch|surface|7|20", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Candle|surface|7|21", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 587, + 24, + 588, + 27 + ], + [ + 550, + 0, + 649, + 30 + ] + ], + "distances_to_camera": [ + 7.21, + 7.057 + ], + "positions_3d": [ + [ + 9.78, + 0.753, + 9.038 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2", + "Candle|surface|7|21" + ], + "Q2_rel": { + "Candle|surface|7|21": [ + { + "object": "Television|7|0|2", + "direction": "front", + "distance_3d": 0.52 + } + ], + "Television|7|0|2": [ + { + "object": "Candle|surface|7|21", + "direction": "back", + "distance_3d": 0.52 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|2", + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 228, + 120, + 336 + ], + [ + 91, + 257, + 299, + 380 + ] + ], + "distances_to_camera": [ + 1.473, + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.929 + ], + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1", + "Pillow|2|2|2" + ], + "Q2_rel": { + "Pillow|2|2|2": [ + { + "object": "Pillow|2|2|1", + "direction": "front-right", + "distance_3d": 0.696 + } + ], + "Pillow|2|2|1": [ + { + "object": "Pillow|2|2|2", + "direction": "back-left", + "distance_3d": 0.696 + } + ] + }, + "Q3_type_count": 1, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang270_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Bed|2|2|0", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|2|2|1" + ], + "bounding_boxes": [ + [ + 0, + 86, + 189, + 280 + ] + ], + "distances_to_camera": [ + 0.815 + ], + "positions_3d": [ + [ + 3.543, + 0.698, + 7.233 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|2|2|1" + ], + "Q2_rel": { + "Pillow|2|2|1": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 389, + 196, + 408, + 216 + ] + ], + "distances_to_camera": [ + 1.395 + ], + "positions_3d": [ + [ + 4.396, + 0.321, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 389, + 198, + 409, + 231 + ] + ], + "distances_to_camera": [ + 1.282 + ], + "positions_3d": [ + [ + 4.396, + 0.321, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang45_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 384, + 114, + 398, + 168 + ] + ], + "distances_to_camera": [ + 1.282 + ], + "positions_3d": [ + [ + 4.396, + 0.321, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 391, + 196, + 409, + 227 + ] + ], + "distances_to_camera": [ + 1.473 + ], + "positions_3d": [ + [ + 4.396, + 0.321, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 184, + 22, + 202, + 31 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "ShelvingUnit|7|5___2", + "relation": "supports", + "room": "room0", + "members": [ + "Statue|surface|7|23" + ], + "bounding_boxes": [ + [ + 776, + 130, + 799, + 160 + ] + ], + "distances_to_camera": [ + 2.598 + ], + "positions_3d": [ + [ + 4.128, + 0.562, + 8.751 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Statue|surface|7|23" + ], + "Q2_rel": { + "Statue|surface|7|23": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action7/place_Cup|surface|6|12_from_CounterTop|6|0_to_ArmChair|7|4|0_1771164198816_step15/meta/post_ang90_low.json" + }, + "topology_clusters": [ + { + "receptacle": "ArmChair|7|4|0", + "relation": "supports", + "room": "room0", + "members": [ + "Cup|surface|6|12" + ], + "bounding_boxes": [ + [ + 388, + 128, + 412, + 173 + ] + ], + "distances_to_camera": [ + 1.473 + ], + "positions_3d": [ + [ + 4.396, + 0.321, + 6.739 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Cup|surface|6|12" + ], + "Q2_rel": { + "Cup|surface|6|12": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + }, + { + "receptacle": "Bed|2|6", + "relation": "supports", + "room": "room0", + "members": [ + "Book|surface|2|44" + ], + "bounding_boxes": [ + [ + 183, + 43, + 202, + 47 + ] + ], + "distances_to_camera": [ + 4.91 + ], + "positions_3d": [ + [ + 1.437, + 0.412, + 4.455 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Book|surface|2|44" + ], + "Q2_rel": { + "Book|surface|2|44": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + } + ] + } + } + }, + "action8": { + "steps": { + "spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16": { + "status": "pre-spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 350, + 116, + 368, + 151 + ], + [ + 406, + 47, + 451, + 82 + ], + [ + 364, + 75, + 508, + 204 + ], + [ + 376, + 79, + 412, + 94 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.021, + 1.51, + 0.851, + 1.091, + 1.324, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 426, + 103, + 458, + 136 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 112 + ], + [ + 368, + 77, + 429, + 162 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 457, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.99, + 0.716, + 1.198, + 0.966, + 0.797, + 0.68, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 421, + 98, + 447, + 127 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 336, + 27, + 437, + 120 + ], + [ + 378, + 82, + 422, + 151 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 447, + 109, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.244, + 0.833, + 1.44, + 1.187, + 0.98, + 0.951, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 409, + 90, + 429, + 106 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 368, + 84, + 432, + 152 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ] + ], + "distances_to_camera": [ + 1.334, + 0.786, + 1.463, + 1.209, + 0.99, + 1.174, + 1.68 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.349 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 381, + 90, + 393, + 93 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 371, + 93, + 429, + 144 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 428, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.399, + 1.142, + 1.374, + 1.266, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 481, + 83, + 531, + 121 + ], + [ + 291, + 69, + 430, + 206 + ], + [ + 395, + 82, + 435, + 132 + ], + [ + 434, + 106, + 473, + 134 + ], + [ + 377, + 68, + 443, + 92 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.314, + 1.039, + 1.117, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Box|surface|7|17", + "Bread|surface|7|0", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 6, + "Q4_count": 6 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step16/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17": { + "status": "post-spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 350, + 116, + 368, + 151 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 406, + 47, + 451, + 82 + ], + [ + 364, + 75, + 508, + 204 + ], + [ + 376, + 79, + 412, + 94 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.021, + 1.181, + 1.51, + 0.851, + 1.091, + 1.324, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 426, + 103, + 458, + 136 + ], + [ + 313, + 0, + 350, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 112 + ], + [ + 368, + 77, + 429, + 162 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 457, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.99, + 1.061, + 0.716, + 1.198, + 0.966, + 0.797, + 0.68, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 421, + 98, + 447, + 127 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 378, + 82, + 422, + 151 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 447, + 109, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.244, + 1.222, + 0.833, + 1.44, + 1.187, + 0.98, + 0.951, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 409, + 90, + 429, + 106 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 368, + 84, + 432, + 152 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ] + ], + "distances_to_camera": [ + 1.334, + 1.11, + 0.786, + 1.463, + 1.209, + 0.99, + 1.174, + 1.68 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 381, + 90, + 393, + 93 + ], + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 371, + 93, + 429, + 144 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 428, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.399, + 1.081, + 1.142, + 1.374, + 1.266, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 291, + 69, + 430, + 206 + ], + [ + 395, + 82, + 435, + 132 + ], + [ + 434, + 106, + 473, + 131 + ], + [ + 377, + 68, + 443, + 92 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.039, + 1.117, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Bread|surface|7|0", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.393 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action8/spawn_BaseballBat_4_in_DiningTable|7|1_1771164210664_step17/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + }, + "action9": { + "steps": { + "spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18": { + "status": "pre-spawn_Watch_2_in_DiningTable|7|1_1771164222849", + "frames": [ + { + "snapshot_label": "pre_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 350, + 116, + 368, + 151 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 406, + 47, + 451, + 82 + ], + [ + 364, + 75, + 508, + 204 + ], + [ + 376, + 79, + 412, + 94 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ] + ], + "distances_to_camera": [ + 1.021, + 1.181, + 1.51, + 0.851, + 1.091, + 1.324, + 0.695, + 0.944 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "Plate|surface|7|16": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 426, + 103, + 458, + 136 + ], + [ + 313, + 0, + 350, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 112 + ], + [ + 368, + 77, + 429, + 162 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 457, + 114, + 470, + 128 + ] + ], + "distances_to_camera": [ + 0.99, + 1.061, + 0.716, + 1.198, + 0.966, + 0.797, + 0.68, + 1.31, + 1.06 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 421, + 98, + 447, + 127 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 378, + 82, + 422, + 151 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 447, + 109, + 453, + 119 + ] + ], + "distances_to_camera": [ + 1.244, + 1.222, + 0.833, + 1.44, + 1.187, + 0.98, + 0.951, + 1.588, + 1.324 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "pre_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 409, + 90, + 429, + 106 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 368, + 84, + 432, + 152 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ] + ], + "distances_to_camera": [ + 1.334, + 1.11, + 0.786, + 1.463, + 1.209, + 0.99, + 1.174, + 1.68 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 381, + 90, + 393, + 93 + ], + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 371, + 93, + 429, + 144 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 428, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.399, + 1.081, + 1.142, + 1.374, + 1.266, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 291, + 69, + 430, + 206 + ], + [ + 395, + 82, + 435, + 132 + ], + [ + 434, + 106, + 473, + 131 + ], + [ + 377, + 68, + 443, + 92 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.039, + 1.117, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Bread|surface|7|0", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.393 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "pre_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + } + ] + }, + { + "snapshot_label": "pre_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "pre_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + } + ] + }, + { + "snapshot_label": "pre_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/rgb/pre_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/depth/pre_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/semantic/pre_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/instance/pre_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step18/meta/pre_ang90_low.json" + }, + "topology_clusters": [] + } + ] + }, + "spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19": { + "status": "post-spawn_Watch_2_in_DiningTable|7|1_1771164222849", + "frames": [ + { + "snapshot_label": "post_ang0_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang0_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang0_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang0_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang0_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang0_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 350, + 116, + 368, + 151 + ], + [ + 457, + 0, + 479, + 77 + ], + [ + 406, + 47, + 451, + 82 + ], + [ + 364, + 75, + 508, + 204 + ], + [ + 376, + 79, + 412, + 94 + ], + [ + 311, + 82, + 366, + 118 + ], + [ + 287, + 136, + 361, + 229 + ], + [ + 354, + 155, + 365, + 166 + ], + [ + 327, + 127, + 347, + 137 + ] + ], + "distances_to_camera": [ + 1.021, + 1.181, + 1.51, + 0.851, + 1.091, + 1.324, + 0.695, + 0.944, + 1.117 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 486, + 539, + 598, + 599 + ] + ], + "distances_to_camera": [ + 0.954 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang0_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang0_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang0_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang0_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang0_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang0_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang135_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang135_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang135_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang135_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang135_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang135_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 426, + 103, + 458, + 136 + ], + [ + 313, + 0, + 350, + 131 + ], + [ + 261, + 165, + 330, + 221 + ], + [ + 339, + 5, + 458, + 112 + ], + [ + 368, + 77, + 429, + 162 + ], + [ + 335, + 154, + 376, + 197 + ], + [ + 396, + 168, + 481, + 235 + ], + [ + 477, + 1, + 536, + 94 + ], + [ + 457, + 114, + 470, + 128 + ], + [ + 451, + 148, + 474, + 163 + ] + ], + "distances_to_camera": [ + 0.99, + 1.061, + 0.716, + 1.198, + 0.966, + 0.797, + 0.68, + 1.31, + 1.06, + 0.884 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Plate|surface|7|16", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Bread|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 101, + 0, + 167, + 44 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang135_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang135_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang135_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang135_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang135_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang135_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14" + ], + "bounding_boxes": [ + [ + 71, + 0, + 149, + 25 + ] + ], + "distances_to_camera": [ + 3.822 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14" + ], + "Q2_rel": { + "Pillow|surface|7|14": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang180_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang180_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang180_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang180_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang180_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang180_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 421, + 98, + 447, + 127 + ], + [ + 321, + 0, + 354, + 136 + ], + [ + 304, + 163, + 365, + 210 + ], + [ + 337, + 27, + 437, + 120 + ], + [ + 378, + 82, + 422, + 151 + ], + [ + 363, + 151, + 387, + 184 + ], + [ + 423, + 153, + 490, + 193 + ], + [ + 444, + 14, + 490, + 91 + ], + [ + 447, + 109, + 453, + 119 + ], + [ + 449, + 131, + 468, + 144 + ] + ], + "distances_to_camera": [ + 1.244, + 1.222, + 0.833, + 1.44, + 1.187, + 0.98, + 0.951, + 1.588, + 1.324, + 1.159 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Watch|surface|7|21", + "Bread|surface|7|0", + "BaseballBat|surface|7|0", + "Apple|surface|6|10", + "Watch|surface|7|20", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "back", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + }, + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 38, + 67, + 108, + 110 + ], + [ + 107, + 51, + 131, + 54 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 415, + 0, + 415, + 0 + ], + [ + 420, + 0, + 424, + 2 + ], + [ + 391, + 0, + 435, + 21 + ] + ], + "distances_to_camera": [ + 3.144, + 3.148, + 3.162 + ], + "positions_3d": [ + [ + 9.63, + 0.753, + 8.888 + ], + [ + 9.705, + 0.753, + 8.888 + ], + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "KeyChain|surface|7|15", + "RemoteControl|surface|7|22", + "Television|7|0|2" + ], + "Q2_rel": { + "KeyChain|surface|7|15": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ], + "RemoteControl|surface|7|22": [ + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.075 + }, + { + "object": "Television|7|0|2", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + } + ], + "Television|7|0|2": [ + { + "object": "RemoteControl|surface|7|22", + "direction": "overlapping/extremely close", + "distance_3d": 0.489 + }, + { + "object": "KeyChain|surface|7|15", + "direction": "overlapping/extremely close", + "distance_3d": 0.491 + } + ] + }, + "Q3_type_count": 3, + "Q4_count": 3 + } + } + ] + }, + { + "snapshot_label": "post_ang180_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang180_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang180_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang180_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang180_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang180_low.json" + }, + "topology_clusters": [ + { + "receptacle": "Sofa|7|0|1", + "relation": "supports", + "room": "room0", + "members": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "bounding_boxes": [ + [ + 0, + 53, + 82, + 91 + ], + [ + 94, + 56, + 120, + 59 + ] + ], + "distances_to_camera": [ + 3.815, + 4.48 + ], + "positions_3d": [ + [ + 6.902, + 0.332, + 8.485 + ], + [ + 6.832, + 0.261, + 9.291 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Pillow|surface|7|14", + "RemoteControl|surface|7|25" + ], + "Q2_rel": { + "Pillow|surface|7|14": [ + { + "object": "RemoteControl|surface|7|25", + "direction": "back-right", + "distance_3d": 0.812 + } + ], + "RemoteControl|surface|7|25": [ + { + "object": "Pillow|surface|7|14", + "direction": "front-left", + "distance_3d": 0.812 + } + ] + }, + "Q3_type_count": 2, + "Q4_count": 2 + } + } + ] + }, + { + "snapshot_label": "post_ang225_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang225_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang225_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang225_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang225_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang225_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 409, + 90, + 429, + 106 + ], + [ + 330, + 0, + 364, + 156 + ], + [ + 393, + 171, + 454, + 218 + ], + [ + 294, + 30, + 403, + 142 + ], + [ + 368, + 84, + 432, + 152 + ], + [ + 393, + 151, + 440, + 173 + ], + [ + 440, + 120, + 520, + 166 + ], + [ + 376, + 8, + 418, + 80 + ], + [ + 442, + 110, + 457, + 122 + ] + ], + "distances_to_camera": [ + 1.334, + 1.11, + 0.786, + 1.463, + 1.209, + 0.99, + 1.174, + 1.68, + 1.329 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "Bread|surface|7|0", + "Watch|surface|7|21", + "Apple|surface|6|10", + "Box|surface|7|17", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "right", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-right", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "left", + "distance_3d": 0.148 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-left", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 9 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 200, + 0, + 280, + 42 + ] + ], + "distances_to_camera": [ + 3.053 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang225_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang225_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang225_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang225_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang225_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang225_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang270_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang270_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang270_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang270_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang270_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang270_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 381, + 90, + 393, + 93 + ], + [ + 394, + 0, + 411, + 167 + ], + [ + 478, + 130, + 531, + 169 + ], + [ + 307, + 56, + 376, + 172 + ], + [ + 371, + 93, + 429, + 144 + ], + [ + 430, + 137, + 475, + 152 + ], + [ + 428, + 93, + 482, + 119 + ], + [ + 285, + 33, + 330, + 103 + ] + ], + "distances_to_camera": [ + 1.399, + 1.081, + 1.142, + 1.374, + 1.266, + 1.205, + 1.493, + 1.583 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "CellPhone|surface|2|50", + "Bread|surface|7|0", + "Box|surface|7|17", + "Apple|surface|6|10", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.146 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "right", + "distance_3d": 0.245 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.146 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.349 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 8, + "Q4_count": 8 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 0, + 115, + 176 + ] + ], + "distances_to_camera": [ + 2.393 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang270_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang270_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang270_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang270_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang270_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang270_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang315_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang315_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang315_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang315_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang315_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang315_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27" + ], + "bounding_boxes": [ + [ + 434, + 0, + 472, + 162 + ], + [ + 481, + 83, + 531, + 121 + ], + [ + 291, + 69, + 430, + 206 + ], + [ + 395, + 82, + 435, + 132 + ], + [ + 434, + 106, + 473, + 131 + ], + [ + 377, + 68, + 443, + 92 + ], + [ + 225, + 65, + 291, + 153 + ] + ], + "distances_to_camera": [ + 1.014, + 1.314, + 1.039, + 1.117, + 1.226, + 1.438, + 1.142 + ], + "positions_3d": [ + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "BaseballBat|surface|7|0", + "Box|surface|7|17", + "Bread|surface|7|0", + "Vase|surface|7|27", + "CellPhone|surface|2|50", + "Bowl|surface|7|19", + "Plate|surface|7|16" + ], + "Q2_rel": { + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "left", + "distance_3d": 0.393 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.463 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-left", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-left", + "distance_3d": 0.463 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "back-left", + "distance_3d": 0.314 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.29 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front-right", + "distance_3d": 0.29 + }, + { + "object": "Bread|surface|7|0", + "direction": "front", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "front-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.314 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-right", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ] + }, + "Q3_type_count": 7, + "Q4_count": 7 + } + }, + { + "receptacle": "TVStand|7|0|0", + "relation": "supports", + "room": "room0", + "members": [ + "Television|7|0|2" + ], + "bounding_boxes": [ + [ + 0, + 329, + 55, + 398 + ] + ], + "distances_to_camera": [ + 1.509 + ], + "positions_3d": [ + [ + 9.681, + 1.241, + 8.888 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Television|7|0|2" + ], + "Q2_rel": { + "Television|7|0|2": [] + }, + "Q3_type_count": 1, + "Q4_count": 1 + } + } + ] + }, + { + "snapshot_label": "post_ang315_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang315_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang315_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang315_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang315_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang315_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang45_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang45_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang45_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang45_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang45_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang45_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ], + [ + 314, + 137, + 338, + 150 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694, + 0.868 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + } + ] + }, + { + "snapshot_label": "post_ang45_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang45_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang45_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang45_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang45_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang45_low.json" + }, + "topology_clusters": [] + }, + { + "snapshot_label": "post_ang90_high", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang90_high.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang90_high.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang90_high.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang90_high.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang90_high.json" + }, + "topology_clusters": [ + { + "receptacle": "DiningTable|7|1", + "relation": "supports", + "room": "room0", + "members": [ + "Apple|surface|6|10", + "BaseballBat|surface|7|0", + "Bowl|surface|7|19", + "Box|surface|7|17", + "Bread|surface|7|0", + "CellPhone|surface|2|50", + "Plate|surface|7|16", + "Vase|surface|7|27", + "Watch|surface|7|20", + "Watch|surface|7|21" + ], + "bounding_boxes": [ + [ + 343, + 128, + 366, + 169 + ], + [ + 465, + 0, + 494, + 84 + ], + [ + 400, + 26, + 453, + 71 + ], + [ + 361, + 77, + 537, + 236 + ], + [ + 367, + 78, + 418, + 113 + ], + [ + 409, + 79, + 421, + 98 + ], + [ + 290, + 75, + 363, + 127 + ], + [ + 276, + 177, + 365, + 276 + ], + [ + 338, + 175, + 363, + 189 + ], + [ + 314, + 137, + 338, + 150 + ] + ], + "distances_to_camera": [ + 0.772, + 0.961, + 1.274, + 0.613, + 0.849, + 1.076, + 1.074, + 0.447, + 0.694, + 0.868 + ], + "positions_3d": [ + [ + 9.649, + 0.918, + 6.985 + ], + [ + 9.303, + 1.136, + 6.933 + ], + [ + 9.303, + 0.865, + 6.558 + ], + [ + 9.602, + 1.063, + 7.177 + ], + [ + 9.514, + 0.942, + 6.936 + ], + [ + 9.422, + 0.862, + 6.726 + ], + [ + 9.708, + 0.861, + 6.677 + ], + [ + 9.803, + 0.86, + 7.308 + ], + [ + 9.703, + 0.862, + 7.058 + ], + [ + 9.743, + 0.865, + 6.883 + ] + ], + "qa_pairs": { + "Q1_sort": [ + "Vase|surface|7|27", + "Box|surface|7|17", + "Watch|surface|7|20", + "Apple|surface|6|10", + "Bread|surface|7|0", + "Watch|surface|7|21", + "BaseballBat|surface|7|0", + "Plate|surface|7|16", + "CellPhone|surface|2|50", + "Bowl|surface|7|19" + ], + "Q2_rel": { + "Apple|surface|6|10": [ + { + "object": "Watch|surface|7|20", + "direction": "front", + "distance_3d": 0.107 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.148 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.245 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.319 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.349 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.363 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.552 + } + ], + "BaseballBat|surface|7|0": [ + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.287 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.363 + }, + { + "object": "Box|surface|7|17", + "direction": "front-left", + "distance_3d": 0.393 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.412 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.501 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.519 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.683 + } + ], + "Bowl|surface|7|19": [ + { + "object": "CellPhone|surface|2|50", + "direction": "front", + "distance_3d": 0.206 + }, + { + "object": "Plate|surface|7|16", + "direction": "front-left", + "distance_3d": 0.422 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.44 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.463 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.547 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.552 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.64 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.715 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.901 + } + ], + "Box|surface|7|17": [ + { + "object": "Apple|surface|6|10", + "direction": "back-left", + "distance_3d": 0.245 + }, + { + "object": "Watch|surface|7|20", + "direction": "back-left", + "distance_3d": 0.254 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-left", + "distance_3d": 0.284 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.314 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.393 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-left", + "distance_3d": 0.526 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.55 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-left", + "distance_3d": 0.715 + } + ], + "Bread|surface|7|0": [ + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.146 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.239 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.243 + }, + { + "object": "Watch|surface|7|21", + "direction": "left", + "distance_3d": 0.247 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.284 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.287 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.334 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.44 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.478 + } + ], + "CellPhone|surface|2|50": [ + { + "object": "Bowl|surface|7|19", + "direction": "back", + "distance_3d": 0.206 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-left", + "distance_3d": 0.243 + }, + { + "object": "Plate|surface|7|16", + "direction": "left", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-left", + "distance_3d": 0.349 + }, + { + "object": "Watch|surface|7|21", + "direction": "front-left", + "distance_3d": 0.357 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-left", + "distance_3d": 0.435 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.526 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.696 + } + ], + "Plate|surface|7|16": [ + { + "object": "Watch|surface|7|21", + "direction": "front", + "distance_3d": 0.209 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "right", + "distance_3d": 0.29 + }, + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.319 + }, + { + "object": "Bread|surface|7|0", + "direction": "front-right", + "distance_3d": 0.334 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.422 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.55 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "front-right", + "distance_3d": 0.552 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.638 + } + ], + "Vase|surface|7|27": [ + { + "object": "Watch|surface|7|20", + "direction": "back-right", + "distance_3d": 0.269 + }, + { + "object": "Box|surface|7|17", + "direction": "back-right", + "distance_3d": 0.314 + }, + { + "object": "Apple|surface|6|10", + "direction": "back-right", + "distance_3d": 0.363 + }, + { + "object": "Watch|surface|7|21", + "direction": "back", + "distance_3d": 0.429 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.478 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.638 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.683 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.696 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.901 + } + ], + "Watch|surface|7|20": [ + { + "object": "Apple|surface|6|10", + "direction": "back", + "distance_3d": 0.107 + }, + { + "object": "Watch|surface|7|21", + "direction": "back-left", + "distance_3d": 0.18 + }, + { + "object": "Bread|surface|7|0", + "direction": "back-right", + "distance_3d": 0.239 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.254 + }, + { + "object": "Vase|surface|7|27", + "direction": "front-left", + "distance_3d": 0.269 + }, + { + "object": "Plate|surface|7|16", + "direction": "back-left", + "distance_3d": 0.381 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.435 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.501 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.64 + } + ], + "Watch|surface|7|21": [ + { + "object": "Apple|surface|6|10", + "direction": "front-right", + "distance_3d": 0.148 + }, + { + "object": "Watch|surface|7|20", + "direction": "front-right", + "distance_3d": 0.18 + }, + { + "object": "Plate|surface|7|16", + "direction": "back", + "distance_3d": 0.209 + }, + { + "object": "Bread|surface|7|0", + "direction": "right", + "distance_3d": 0.247 + }, + { + "object": "CellPhone|surface|2|50", + "direction": "back-right", + "distance_3d": 0.357 + }, + { + "object": "Box|surface|7|17", + "direction": "front-right", + "distance_3d": 0.381 + }, + { + "object": "Vase|surface|7|27", + "direction": "front", + "distance_3d": 0.429 + }, + { + "object": "BaseballBat|surface|7|0", + "direction": "back-right", + "distance_3d": 0.519 + }, + { + "object": "Bowl|surface|7|19", + "direction": "back-right", + "distance_3d": 0.547 + } + ] + }, + "Q3_type_count": 9, + "Q4_count": 10 + } + } + ] + }, + { + "snapshot_label": "post_ang90_low", + "file_paths": { + "rgb": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/rgb/post_ang90_low.png", + "depth": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/depth/post_ang90_low.png", + "semantic": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/semantic/post_ang90_low.png", + "instance": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/instance/post_ang90_low.png", + "meta": "dynamic_procthor/qwen/house_train_160/episode_resident_sim_1771164070892/action9/spawn_Watch_2_in_DiningTable|7|1_1771164222849_step19/meta/post_ang90_low.json" + }, + "topology_clusters": [] + } + ] + } + } + } + }, + "worlds": {} +} \ No newline at end of file