{ "episode_id": "episode_resident_sim_1771167058574", "house_info": "house_train_167", "actions": { "action0": { "steps": { "place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0": { "status": "pre-place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang0_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 146, 141, 267, 224 ], [ 199, 83, 293, 143 ], [ 577, 128, 657, 234 ] ], "distances_to_camera": [ 1.278, 1.73, 1.419 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang0_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 0, 0, 200, 64 ], [ 183, 0, 263, 36 ], [ 637, 19, 799, 71 ] ], "distances_to_camera": [ 1.278, 1.73, 1.419 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 363, 76, 426, 112 ], [ 439, 83, 505, 122 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 2.379, 2.273, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 359, 47, 429, 72 ], [ 444, 47, 520, 74 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 2.379, 2.273, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 363, 76, 426, 112 ], [ 439, 83, 505, 122 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 2.379, 2.273, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 359, 47, 429, 72 ], [ 444, 47, 520, 74 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 2.379, 2.273, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang270_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 323, 72, 389, 111 ], [ 404, 71, 470, 110 ], [ 263, 260, 455, 319 ] ], "distances_to_camera": [ 2.276, 2.285, 0.671 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang270_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 313, 36, 388, 63 ], [ 405, 36, 480, 63 ], [ 139, 94, 503, 139 ] ], "distances_to_camera": [ 2.276, 2.285, 0.671 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang315_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 193, 87, 288, 148 ], [ 280, 53, 359, 103 ], [ 514, 204, 613, 342 ] ], "distances_to_camera": [ 1.7, 1.997, 0.894 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang315_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 120, 0, 256, 38 ], [ 255, 0, 351, 26 ], [ 640, 39, 799, 146 ] ], "distances_to_camera": [ 1.7, 1.997, 0.894 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang45_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step0/meta/pre_ang90_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] } ] }, "place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1": { "status": "post-place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 392, 146, 408, 164 ], [ 146, 141, 267, 224 ], [ 199, 83, 293, 143 ], [ 577, 128, 657, 234 ] ], "distances_to_camera": [ 1.3, 1.278, 1.73, 1.419 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "CellPhone|surface|7|39", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 389, 37, 411, 43 ], [ 0, 0, 200, 64 ], [ 183, 0, 263, 36 ], [ 637, 19, 799, 71 ] ], "distances_to_camera": [ 1.3, 1.278, 1.73, 1.419 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "CellPhone|surface|7|39", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 385, 148, 413, 164 ], [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.442, 0.811, 1.324, 2.052 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "CellPhone|surface|7|39", "TennisRacket|surface|2|69" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 381, 60, 417, 65 ], [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.442, 0.811, 1.324, 2.052 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "CellPhone|surface|7|39", "TennisRacket|surface|2|69" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 387, 154, 414, 164 ], [ 363, 76, 426, 112 ], [ 439, 83, 505, 122 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 1.586, 2.379, 2.273, 0.905 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "CellPhone|surface|7|39", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 384, 81, 418, 85 ], [ 359, 47, 429, 72 ], [ 444, 47, 520, 74 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 1.586, 2.379, 2.273, 0.905 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "CellPhone|surface|7|39", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 387, 154, 414, 164 ], [ 363, 76, 426, 112 ], [ 439, 83, 505, 122 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 1.586, 2.379, 2.273, 0.905 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "CellPhone|surface|7|39", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 384, 81, 418, 85 ], [ 359, 47, 429, 72 ], [ 444, 47, 520, 74 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 1.586, 2.379, 2.273, 0.905 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "CellPhone|surface|7|39", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 388, 154, 414, 162 ], [ 323, 72, 389, 111 ], [ 404, 71, 470, 110 ], [ 263, 260, 455, 319 ] ], "distances_to_camera": [ 1.519, 2.276, 2.285, 0.671 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 384, 73, 418, 76 ], [ 313, 36, 388, 63 ], [ 405, 36, 480, 63 ], [ 139, 94, 503, 139 ] ], "distances_to_camera": [ 1.519, 2.276, 2.285, 0.671 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 387, 146, 415, 165 ], [ 193, 87, 288, 148 ], [ 280, 53, 359, 103 ], [ 514, 204, 613, 342 ] ], "distances_to_camera": [ 1.299, 1.7, 1.997, 0.894 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 381, 38, 421, 45 ], [ 120, 0, 256, 38 ], [ 255, 0, 351, 26 ], [ 640, 39, 799, 146 ] ], "distances_to_camera": [ 1.299, 1.7, 1.997, 0.894 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 385, 148, 413, 164 ], [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.442, 0.811, 1.324, 2.052 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "CellPhone|surface|7|39", "TennisRacket|surface|2|69" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang45_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 381, 60, 417, 65 ], [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.442, 0.811, 1.324, 2.052 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "CellPhone|surface|7|39", "TennisRacket|surface|2|69" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 385, 148, 413, 164 ], [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.442, 0.811, 1.324, 2.052 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "CellPhone|surface|7|39", "TennisRacket|surface|2|69" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action0/place_CellPhone|surface|7|39_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167070168_step1/meta/post_ang90_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|39", "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 381, 60, 417, 65 ], [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.442, 0.811, 1.324, 2.052 ], "positions_3d": [ [ 10.263, 0.77, 0.707 ], [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "CellPhone|surface|7|39", "TennisRacket|surface|2|69" ], "Q2_rel": { "CellPhone|surface|7|39": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] } ] } } }, "action1": { "steps": { "place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2": { "status": "pre-place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 339, 0, 466, 124 ], [ 395, 131, 446, 165 ], [ 385, 107, 450, 240 ] ], "distances_to_camera": [ 1.292, 1.382, 1.141, 0.75 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Newspaper|surface|7|35", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ] }, "Q3_type_count": 4, "Q4_count": 4 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "bounding_boxes": [ [ 97, 0, 106, 1 ], [ 87, 0, 96, 0 ] ], "distances_to_camera": [ 6.077, 6.236 ], "positions_3d": [ [ 0.296, 0.626, 3.683 ], [ 0.122, 0.627, 3.619 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ], "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 480, 81, 551, 212 ] ], "distances_to_camera": [ 0.995, 1.252, 1.133, 0.877 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 4, "Q4_count": 4 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 501, 23, 578, 156 ] ], "distances_to_camera": [ 0.792, 1.115, 1.176, 1.181 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 4, "Q4_count": 4 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 243, 84, 321, 217 ] ], "distances_to_camera": [ 1.385, 1.223, 0.98, 0.836 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Newspaper|surface|7|35", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ] }, "Q3_type_count": 4, "Q4_count": 4 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step2/meta/pre_ang90_low.json" }, "topology_clusters": [] } ] }, "place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3": { "status": "post-place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 339, 0, 466, 124 ], [ 395, 131, 446, 165 ], [ 385, 107, 450, 240 ] ], "distances_to_camera": [ 1.292, 1.088, 1.382, 1.141, 0.75 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ] }, "Q3_type_count": 5, "Q4_count": 5 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "bounding_boxes": [ [ 97, 0, 106, 1 ], [ 87, 0, 96, 0 ] ], "distances_to_camera": [ 6.077, 6.236 ], "positions_3d": [ [ 0.296, 0.626, 3.683 ], [ 0.122, 0.627, 3.619 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ], "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 480, 81, 551, 212 ] ], "distances_to_camera": [ 0.995, 0.938, 1.252, 1.133, 0.877 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 5, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 501, 23, 578, 156 ] ], "distances_to_camera": [ 0.792, 0.944, 1.115, 1.176, 1.181 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 5, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 243, 84, 321, 217 ] ], "distances_to_camera": [ 1.385, 1.143, 1.223, 0.98, 0.836 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ] }, "Q3_type_count": 5, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action1/place_CellPhone|surface|7|39_from_Bed|2|0|0_to_DiningTable|7|1_1771167085210_step3/meta/post_ang90_low.json" }, "topology_clusters": [] } ] } } }, "action10": { "steps": { "place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20": { "status": "pre-place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang135_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang135_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang180_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang180_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang225_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang225_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang45_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang90_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step20/meta/pre_ang90_low.json" }, "topology_clusters": [] } ] }, "place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21": { "status": "post-place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 407, 201, 414, 210 ] ], "distances_to_camera": [ 1.605 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 409, 149, 418, 158 ] ], "distances_to_camera": [ 1.605 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang135_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang135_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang180_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang180_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 394, 222, 410, 232 ] ], "distances_to_camera": [ 0.982 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 391, 123, 416, 140 ] ], "distances_to_camera": [ 0.982 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 398, 214, 413, 223 ] ], "distances_to_camera": [ 1.179 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 397, 132, 419, 145 ] ], "distances_to_camera": [ 1.179 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 406, 205, 416, 215 ] ], "distances_to_camera": [ 1.384 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 408, 139, 422, 150 ] ], "distances_to_camera": [ 1.384 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang45_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang90_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action10/place_Watch|surface|2|56_from_CoffeeTable|2|2_to_ArmChair|7|2|0_1771167186098_step21/meta/post_ang90_low.json" }, "topology_clusters": [] } ] } } }, "action11": { "steps": { "spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22": { "status": "pre-spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang0_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 517, 147, 607, 204 ], [ 222, 91, 264, 160 ], [ 289, 63, 317, 129 ], [ 227, 93, 283, 134 ], [ 282, 193, 305, 219 ], [ 496, 138, 509, 162 ], [ 392, 118, 405, 136 ], [ 395, 141, 406, 168 ], [ 320, 106, 376, 222 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.304, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang0_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 562, 31, 727, 54 ], [ 163, 0, 211, 39 ], [ 259, 0, 292, 31 ], [ 203, 0, 247, 32 ], [ 205, 47, 253, 60 ], [ 534, 0, 557, 40 ], [ 389, 7, 408, 29 ], [ 393, 29, 409, 42 ], [ 277, 0, 361, 60 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.304, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 300, 59, 381, 100 ], [ 522, 157, 574, 232 ], [ 430, 163, 464, 239 ], [ 454, 210, 553, 286 ], [ 517, 142, 548, 164 ], [ 346, 80, 357, 104 ], [ 370, 144, 387, 163 ], [ 390, 131, 424, 154 ], [ 461, 31, 521, 151 ] ], "distances_to_camera": [ 1.908, 0.933, 0.785, 0.696, 1.345, 1.658, 1.16, 1.285, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "Potato|surface|6|0", "RemoteControl|surface|7|42", "CellPhone|surface|6|13", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|26", "Bowl|surface|6|11", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 277, 0, 354, 4 ], [ 455, 0, 516, 54 ], [ 524, 0, 721, 83 ], [ 332, 0, 344, 5 ], [ 355, 0, 381, 20 ], [ 385, 8, 434, 20 ], [ 512, 0, 530, 18 ] ], "distances_to_camera": [ 1.908, 0.785, 0.696, 1.658, 1.16, 1.285, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 7 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 220, 84, 299, 133 ], [ 551, 88, 603, 157 ], [ 501, 128, 547, 205 ], [ 549, 156, 628, 215 ], [ 491, 96, 509, 114 ], [ 293, 103, 307, 129 ], [ 387, 151, 404, 172 ], [ 394, 127, 407, 154 ], [ 432, 5, 478, 116 ] ], "distances_to_camera": [ 1.603, 1.291, 0.979, 1.076, 1.568, 1.395, 1.041, 1.215, 1.535 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "RemoteControl|surface|7|42", "Bottle|surface|6|25", "PepperShaker|surface|6|24", "Statue|surface|6|7", "CellPhone|surface|6|13", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "Potato|surface|6|0" ], "bounding_boxes": [ [ 633, 0, 660, 8 ], [ 573, 0, 629, 25 ], [ 659, 0, 785, 29 ], [ 383, 0, 405, 8 ] ], "distances_to_camera": [ 1.291, 0.979, 1.076, 1.041 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.648, 0.814, 5.533 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "Bottle|surface|6|25" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 183, 156, 290, 233 ], [ 481, 34, 507, 100 ], [ 494, 67, 527, 136 ], [ 520, 77, 568, 123 ], [ 396, 79, 423, 93 ], [ 291, 158, 307, 185 ], [ 409, 145, 429, 163 ], [ 375, 132, 409, 154 ], [ 354, 17, 405, 115 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.317, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 59, 21, 222, 56 ], [ 502, 0, 526, 11 ], [ 528, 0, 562, 20 ], [ 557, 0, 601, 16 ], [ 403, 4, 414, 8 ], [ 229, 0, 256, 36 ], [ 413, 0, 444, 26 ], [ 365, 14, 414, 25 ], [ 341, 0, 407, 14 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.317, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang270_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 299, 210, 394, 257 ], [ 386, 60, 402, 109 ], [ 427, 71, 444, 122 ], [ 412, 83, 450, 110 ], [ 326, 118, 349, 124 ], [ 373, 180, 382, 203 ], [ 414, 140, 430, 153 ], [ 373, 149, 408, 154 ], [ 316, 69, 352, 145 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.653, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang270_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 237, 88, 391, 108 ], [ 384, 12, 402, 69 ], [ 431, 8, 451, 71 ], [ 414, 47, 456, 62 ], [ 341, 69, 341, 69 ], [ 363, 54, 375, 88 ], [ 417, 59, 437, 77 ], [ 376, 74, 410, 78 ], [ 299, 0, 343, 76 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.653, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang315_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 219, 551, 331 ], [ 293, 29, 320, 96 ], [ 363, 28, 385, 95 ], [ 318, 43, 365, 84 ], [ 253, 129, 289, 149 ], [ 451, 193, 467, 220 ], [ 413, 121, 428, 139 ], [ 372, 141, 409, 164 ], [ 264, 72, 331, 183 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.91, 1.428, 0.861, 1.323, 1.205, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang315_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 437, 35, 710, 121 ], [ 277, 0, 298, 1 ], [ 359, 0, 379, 1 ], [ 190, 9, 204, 16 ], [ 490, 0, 521, 44 ], [ 418, 0, 440, 10 ], [ 358, 8, 414, 21 ], [ 199, 0, 297, 28 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.428, 0.861, 1.323, 1.205, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|25": [ { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 493, 84, 583, 138 ], [ 223, 165, 278, 241 ], [ 246, 101, 290, 177 ], [ 173, 149, 259, 214 ], [ 363, 237, 407, 274 ], [ 480, 96, 494, 121 ], [ 370, 120, 390, 138 ], [ 390, 141, 426, 164 ], [ 392, 106, 467, 250 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.171, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang45_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 544, 0, 647, 6 ], [ 90, 0, 174, 49 ], [ 183, 0, 228, 20 ], [ 42, 0, 111, 35 ], [ 326, 42, 415, 68 ], [ 511, 0, 525, 1 ], [ 361, 0, 382, 3 ], [ 384, 1, 441, 12 ], [ 385, 0, 523, 55 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.171, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 415, 94, 471, 113 ], [ 375, 172, 403, 241 ], [ 321, 140, 349, 194 ], [ 288, 193, 358, 243 ], [ 461, 198, 495, 209 ], [ 421, 101, 427, 119 ], [ 368, 138, 385, 151 ], [ 391, 148, 426, 153 ], [ 452, 85, 496, 189 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.607, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|42", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step22/meta/pre_ang90_low.json" }, "topology_clusters": [ { "receptacle": "CounterTop|6|0", "relation": "supports", "room": "room0", "members": [ "ButterKnife|surface|6|19", "Egg|surface|6|20", "Kettle|surface|6|14", "Knife|surface|6|21", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Spatula|surface|6|18", "Spatula|surface|6|17", "Spatula|surface|6|16", "Spoon|surface|6|3", "Statue|surface|6|6", "Tomato|surface|6|4" ], "bounding_boxes": [ [ 549, 30, 554, 31 ], [ 530, 26, 532, 28 ], [ 579, 18, 592, 32 ], [ 505, 32, 505, 32 ], [ 513, 25, 519, 32 ], [ 514, 18, 515, 24 ], [ 623, 32, 630, 32 ], [ 527, 32, 544, 32 ], [ 522, 32, 526, 32 ], [ 520, 31, 525, 32 ], [ 528, 0, 544, 32 ], [ 533, 23, 543, 31 ] ], "distances_to_camera": [ 5.811, 6.21, 7.435, 6.446, 6.93, 7.081, 7.679, 6.083, 6.655, 5.707, 5.746, 5.915 ], "positions_3d": [ [ 1.704, 0.954, 7.484 ], [ 1.244, 0.976, 7.328 ], [ 0.329, 0.943, 8.467 ], [ 0.936, 0.945, 7.048 ], [ 0.483, 0.938, 7.245 ], [ 0.329, 0.938, 7.245 ], [ 0.329, 0.946, 9.078 ], [ 1.397, 0.946, 7.406 ], [ 0.785, 0.946, 7.328 ], [ 1.704, 0.939, 7.095 ], [ 1.704, 0.938, 7.251 ], [ 1.55, 0.99, 7.328 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|3", "Statue|surface|6|6", "ButterKnife|surface|6|19", "Tomato|surface|6|4", "Spatula|surface|6|17", "Egg|surface|6|20", "Knife|surface|6|21", "Spatula|surface|6|16", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Kettle|surface|6|14", "Spatula|surface|6|18" ], "Q2_rel": { "ButterKnife|surface|6|19": [ { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.222 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back-left", "distance_3d": 0.317 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.389 }, { "object": "Egg|surface|6|20", "direction": "back-left", "distance_3d": 0.486 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.883 }, { "object": "Spatula|surface|6|16", "direction": "back-left", "distance_3d": 0.932 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.244 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.396 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.69 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.105 } ], "Egg|surface|6|20": [ { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.46 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.468 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.486 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.517 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.766 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 0.92 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.975 } ], "Kettle|surface|6|14": [ { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 0.611 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.222 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.227 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.232 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.505 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 1.543 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 1.67 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 1.69 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 1.836 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 1.942 } ], "Knife|surface|6|21": [ { "object": "Spatula|surface|6|16", "direction": "back-right", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.494 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.584 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.638 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 0.676 }, { "object": "Spoon|surface|6|3", "direction": "front-right", "distance_3d": 0.769 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 0.794 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.883 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.543 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.119 } ], "Mug|surface|6|28": [ { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.494 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.766 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.928 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.071 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.221 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.23 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.232 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.244 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.839 } ], "SaltShaker|surface|6|22": [ { "object": "Mug|surface|6|28", "direction": "front", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.464 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.638 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.92 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.222 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.225 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.375 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.383 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.396 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.833 } ], "Spatula|surface|6|18": [ { "object": "Kettle|surface|6|14", "direction": "front-left", "distance_3d": 0.611 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.808 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.833 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.839 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.975 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.984 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 2.105 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 2.119 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 2.134 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 2.287 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 2.413 } ], "Spatula|surface|6|17": [ { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.177 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.317 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.344 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.437 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.584 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.617 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 0.928 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.505 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.984 } ], "Spatula|surface|6|16": [ { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.46 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.464 }, { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.617 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.766 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.922 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.932 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.948 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.227 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.808 } ], "Spoon|surface|6|3": [ { "object": "Statue|surface|6|6", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back-right", "distance_3d": 0.284 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.389 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.437 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.517 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.769 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.948 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 1.23 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 1.383 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.942 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.413 } ], "Statue|surface|6|6": [ { "object": "Spoon|surface|6|3", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.344 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.468 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.922 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.221 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.375 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.836 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.287 } ], "Tomato|surface|6|4": [ { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.177 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "front", "distance_3d": 0.222 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.284 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.676 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.766 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.071 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.225 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.67 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.134 } ] }, "Q3_type_count": 10, "Q4_count": 12 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 58, 482, 64 ], [ 360, 0, 406, 98 ], [ 288, 0, 328, 86 ], [ 218, 45, 336, 99 ], [ 485, 82, 536, 88 ], [ 424, 43, 431, 65 ], [ 360, 55, 362, 68 ], [ 405, 68, 434, 73 ], [ 467, 0, 531, 81 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.607, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|42", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] } ] }, "spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23": { "status": "post-spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 517, 147, 607, 204 ], [ 222, 91, 264, 160 ], [ 289, 63, 317, 129 ], [ 227, 93, 283, 134 ], [ 282, 193, 305, 219 ], [ 496, 138, 509, 162 ], [ 392, 118, 405, 136 ], [ 395, 141, 406, 168 ], [ 430, 123, 440, 142 ], [ 320, 106, 376, 222 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.304, 1.474, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Spoon|surface|6|4", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 562, 31, 727, 54 ], [ 163, 0, 211, 39 ], [ 259, 0, 292, 31 ], [ 203, 0, 247, 32 ], [ 205, 47, 253, 60 ], [ 534, 0, 557, 40 ], [ 389, 7, 408, 29 ], [ 393, 29, 409, 42 ], [ 439, 27, 454, 33 ], [ 277, 0, 361, 60 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.304, 1.474, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Spoon|surface|6|4", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 300, 59, 381, 100 ], [ 522, 157, 574, 232 ], [ 430, 163, 464, 239 ], [ 454, 210, 553, 286 ], [ 517, 142, 548, 164 ], [ 346, 80, 357, 104 ], [ 370, 144, 387, 163 ], [ 390, 131, 424, 154 ], [ 335, 131, 369, 153 ], [ 461, 31, 521, 151 ] ], "distances_to_camera": [ 1.908, 0.933, 0.785, 0.696, 1.345, 1.658, 1.16, 1.285, 1.313, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "CellPhone|surface|6|13", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|26", "Bowl|surface|6|11", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 277, 0, 354, 4 ], [ 455, 0, 516, 54 ], [ 524, 0, 721, 83 ], [ 332, 0, 344, 5 ], [ 355, 0, 381, 20 ], [ 385, 8, 434, 20 ], [ 305, 7, 355, 19 ], [ 512, 0, 530, 18 ] ], "distances_to_camera": [ 1.908, 0.785, 0.696, 1.658, 1.16, 1.285, 1.313, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 8 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 220, 84, 299, 133 ], [ 551, 88, 603, 157 ], [ 501, 128, 547, 205 ], [ 549, 156, 628, 215 ], [ 491, 96, 509, 114 ], [ 293, 103, 307, 129 ], [ 387, 151, 404, 172 ], [ 394, 127, 407, 154 ], [ 347, 146, 360, 182 ], [ 432, 5, 478, 116 ] ], "distances_to_camera": [ 1.603, 1.291, 0.979, 1.076, 1.568, 1.395, 1.041, 1.215, 1.1, 1.535 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Bottle|surface|6|25", "PepperShaker|surface|6|24", "Statue|surface|6|7", "CellPhone|surface|6|13", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "Potato|surface|6|0", "Spoon|surface|6|4" ], "bounding_boxes": [ [ 633, 0, 660, 8 ], [ 573, 0, 629, 25 ], [ 659, 0, 785, 29 ], [ 383, 0, 405, 8 ], [ 313, 0, 338, 13 ] ], "distances_to_camera": [ 1.291, 0.979, 1.076, 1.041, 1.1 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.648, 0.814, 5.533 ], [ 5.471, 0.784, 5.557 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "Spoon|surface|6|4", "Bottle|surface|6|25" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.855 } ], "Potato|surface|6|0": [ { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.855 } ] }, "Q3_type_count": 4, "Q4_count": 5 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 183, 156, 290, 233 ], [ 481, 34, 507, 100 ], [ 494, 67, 527, 136 ], [ 520, 77, 568, 123 ], [ 396, 79, 423, 93 ], [ 291, 158, 307, 185 ], [ 409, 145, 429, 163 ], [ 375, 132, 409, 154 ], [ 371, 164, 406, 190 ], [ 354, 17, 405, 115 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.317, 1.089, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 59, 21, 222, 56 ], [ 502, 0, 526, 11 ], [ 528, 0, 562, 20 ], [ 557, 0, 601, 16 ], [ 403, 4, 414, 8 ], [ 229, 0, 256, 36 ], [ 413, 0, 444, 26 ], [ 365, 14, 414, 25 ], [ 357, 22, 410, 37 ], [ 341, 0, 407, 14 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.317, 1.089, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 299, 210, 394, 257 ], [ 386, 60, 402, 109 ], [ 427, 71, 444, 122 ], [ 412, 83, 450, 110 ], [ 326, 118, 349, 124 ], [ 373, 180, 382, 203 ], [ 414, 140, 430, 153 ], [ 373, 149, 408, 154 ], [ 404, 166, 443, 170 ], [ 316, 69, 352, 145 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.653, 1.488, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 237, 88, 391, 108 ], [ 384, 12, 402, 69 ], [ 431, 8, 451, 71 ], [ 414, 47, 456, 62 ], [ 341, 69, 341, 69 ], [ 363, 54, 375, 88 ], [ 417, 59, 437, 77 ], [ 376, 74, 410, 78 ], [ 406, 77, 456, 81 ], [ 299, 0, 343, 76 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.653, 1.488, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 219, 551, 331 ], [ 293, 29, 320, 96 ], [ 363, 28, 385, 95 ], [ 318, 43, 365, 84 ], [ 253, 129, 289, 149 ], [ 451, 193, 467, 220 ], [ 413, 121, 428, 139 ], [ 372, 141, 409, 164 ], [ 431, 146, 463, 164 ], [ 264, 72, 331, 183 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.91, 1.428, 0.861, 1.323, 1.205, 1.193, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 437, 35, 710, 121 ], [ 277, 0, 298, 1 ], [ 359, 0, 379, 1 ], [ 190, 9, 204, 16 ], [ 490, 0, 521, 44 ], [ 418, 0, 440, 10 ], [ 358, 8, 414, 21 ], [ 447, 11, 492, 19 ], [ 199, 0, 297, 28 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.428, 0.861, 1.323, 1.205, 1.193, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|25": [ { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 493, 84, 583, 138 ], [ 223, 165, 278, 241 ], [ 246, 101, 290, 177 ], [ 173, 149, 259, 214 ], [ 363, 237, 407, 274 ], [ 480, 96, 494, 121 ], [ 370, 120, 390, 138 ], [ 390, 141, 426, 164 ], [ 393, 112, 426, 128 ], [ 392, 106, 467, 250 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.171, 1.4, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang45_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 544, 0, 647, 6 ], [ 90, 0, 174, 49 ], [ 183, 0, 228, 20 ], [ 42, 0, 111, 35 ], [ 326, 42, 415, 68 ], [ 511, 0, 525, 1 ], [ 361, 0, 382, 3 ], [ 384, 1, 441, 12 ], [ 423, 0, 433, 2 ], [ 385, 0, 523, 55 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.171, 1.4, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 415, 94, 471, 113 ], [ 375, 172, 403, 241 ], [ 321, 140, 349, 194 ], [ 288, 193, 358, 243 ], [ 461, 198, 495, 209 ], [ 421, 101, 427, 119 ], [ 368, 138, 385, 151 ], [ 391, 148, 426, 153 ], [ 364, 134, 399, 136 ], [ 452, 85, 496, 189 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.607, 1.793, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action11/spawn_Spoon_1_in_DiningTable|6|1|0_1771167195039_step23/meta/post_ang90_low.json" }, "topology_clusters": [ { "receptacle": "CounterTop|6|0", "relation": "supports", "room": "room0", "members": [ "ButterKnife|surface|6|19", "Egg|surface|6|20", "Kettle|surface|6|14", "Knife|surface|6|21", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Spatula|surface|6|16", "Spatula|surface|6|17", "Spatula|surface|6|18", "Spoon|surface|6|3", "Statue|surface|6|6", "Tomato|surface|6|4" ], "bounding_boxes": [ [ 549, 30, 554, 31 ], [ 530, 26, 532, 28 ], [ 579, 18, 592, 32 ], [ 505, 32, 505, 32 ], [ 513, 25, 519, 32 ], [ 514, 18, 515, 24 ], [ 522, 32, 526, 32 ], [ 527, 32, 544, 32 ], [ 623, 32, 630, 32 ], [ 520, 31, 525, 32 ], [ 528, 0, 544, 32 ], [ 533, 23, 543, 31 ] ], "distances_to_camera": [ 5.811, 6.21, 7.435, 6.446, 6.93, 7.081, 6.655, 6.083, 7.679, 5.707, 5.746, 5.915 ], "positions_3d": [ [ 1.704, 0.954, 7.484 ], [ 1.244, 0.976, 7.328 ], [ 0.329, 0.943, 8.467 ], [ 0.936, 0.945, 7.048 ], [ 0.483, 0.938, 7.245 ], [ 0.329, 0.938, 7.245 ], [ 0.785, 0.946, 7.328 ], [ 1.397, 0.946, 7.406 ], [ 0.329, 0.946, 9.078 ], [ 1.704, 0.939, 7.095 ], [ 1.704, 0.938, 7.251 ], [ 1.55, 0.99, 7.328 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|3", "Statue|surface|6|6", "ButterKnife|surface|6|19", "Tomato|surface|6|4", "Spatula|surface|6|17", "Egg|surface|6|20", "Knife|surface|6|21", "Spatula|surface|6|16", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Kettle|surface|6|14", "Spatula|surface|6|18" ], "Q2_rel": { "ButterKnife|surface|6|19": [ { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.222 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back-left", "distance_3d": 0.317 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.389 }, { "object": "Egg|surface|6|20", "direction": "back-left", "distance_3d": 0.486 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.883 }, { "object": "Spatula|surface|6|16", "direction": "back-left", "distance_3d": 0.932 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.244 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.396 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.69 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.105 } ], "Egg|surface|6|20": [ { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.46 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.468 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.486 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.517 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.766 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 0.92 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.975 } ], "Kettle|surface|6|14": [ { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 0.611 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.222 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.227 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.232 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.505 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 1.543 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 1.67 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 1.69 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 1.836 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 1.942 } ], "Knife|surface|6|21": [ { "object": "Spatula|surface|6|16", "direction": "back-right", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.494 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.584 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.638 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 0.676 }, { "object": "Spoon|surface|6|3", "direction": "front-right", "distance_3d": 0.769 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 0.794 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.883 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.543 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.119 } ], "Mug|surface|6|28": [ { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.494 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.766 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.928 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.071 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.221 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.23 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.232 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.244 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.839 } ], "SaltShaker|surface|6|22": [ { "object": "Mug|surface|6|28", "direction": "front", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.464 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.638 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.92 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.222 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.225 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.375 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.383 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.396 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.833 } ], "Spatula|surface|6|16": [ { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.46 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.464 }, { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.617 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.766 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.922 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.932 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.948 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.227 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.808 } ], "Spatula|surface|6|17": [ { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.177 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.317 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.344 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.437 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.584 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.617 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 0.928 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.505 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.984 } ], "Spatula|surface|6|18": [ { "object": "Kettle|surface|6|14", "direction": "front-left", "distance_3d": 0.611 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.808 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.833 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.839 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.975 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.984 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 2.105 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 2.119 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 2.134 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 2.287 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 2.413 } ], "Spoon|surface|6|3": [ { "object": "Statue|surface|6|6", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back-right", "distance_3d": 0.284 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.389 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.437 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.517 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.769 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.948 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 1.23 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 1.383 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.942 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.413 } ], "Statue|surface|6|6": [ { "object": "Spoon|surface|6|3", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.344 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.468 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.922 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.221 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.375 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.836 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.287 } ], "Tomato|surface|6|4": [ { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.177 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "front", "distance_3d": 0.222 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.284 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.676 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.766 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.071 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.225 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.67 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.134 } ] }, "Q3_type_count": 10, "Q4_count": 12 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 58, 482, 64 ], [ 360, 0, 406, 98 ], [ 288, 0, 328, 86 ], [ 218, 45, 336, 99 ], [ 485, 82, 536, 88 ], [ 424, 43, 431, 65 ], [ 360, 55, 362, 68 ], [ 405, 68, 434, 73 ], [ 356, 68, 361, 68 ], [ 467, 0, 531, 81 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.607, 1.793, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] } ] } } }, "action12": { "steps": { "place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24": { "status": "pre-place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 446, 123, 468, 135 ], [ 339, 0, 466, 124 ], [ 396, 131, 446, 155 ], [ 466, 148, 482, 157 ], [ 385, 107, 450, 240 ], [ 381, 154, 411, 186 ] ], "distances_to_camera": [ 1.292, 1.088, 1.288, 1.382, 1.141, 1.142, 0.75, 0.94 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "Pencil|surface|7|43", "CreditCard|surface|7|0", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 8, "Q4_count": 8 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "bounding_boxes": [ [ 97, 0, 106, 1 ], [ 87, 0, 96, 0 ] ], "distances_to_camera": [ 6.077, 6.236 ], "positions_3d": [ [ 0.296, 0.626, 3.683 ], [ 0.122, 0.627, 3.619 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ], "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 430, 105, 449, 112 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 465, 120, 485, 123 ], [ 480, 81, 551, 212 ], [ 433, 145, 473, 179 ] ], "distances_to_camera": [ 0.995, 0.938, 1.333, 1.252, 1.133, 1.268, 0.877, 0.937 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31", "Pencil|surface|7|43", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 8, "Q4_count": 8 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 392, 93, 413, 104 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 434, 92, 449, 99 ], [ 501, 23, 578, 156 ], [ 464, 116, 498, 149 ] ], "distances_to_camera": [ 0.792, 0.944, 1.347, 1.115, 1.176, 1.383, 1.181, 1.092 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "Tomato|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "CreditCard|surface|7|0", "Pencil|surface|7|43" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "back", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 8, "Q4_count": 8 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 441, 156, 455, 171 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 422, 182, 424, 200 ], [ 243, 84, 321, 217 ], [ 314, 137, 350, 172 ] ], "distances_to_camera": [ 1.385, 1.143, 0.952, 1.223, 0.98, 0.798, 0.836, 0.952 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Pencil|surface|7|43", "Statue|surface|7|33", "CreditCard|surface|7|0", "Tomato|surface|7|0", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "front", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "left", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "back", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "right", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.452 } ] }, "Q3_type_count": 8, "Q4_count": 8 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step24/meta/pre_ang90_low.json" }, "topology_clusters": [] } ] }, "place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25": { "status": "post-place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0", "Watch|surface|2|56" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 446, 123, 468, 135 ], [ 339, 0, 466, 124 ], [ 396, 131, 446, 155 ], [ 466, 148, 482, 157 ], [ 385, 107, 450, 240 ], [ 381, 154, 411, 186 ], [ 434, 168, 450, 180 ] ], "distances_to_camera": [ 1.292, 1.088, 1.288, 1.382, 1.141, 1.142, 0.75, 0.94, 0.972 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ], [ 5.703, 0.861, 3.302 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "Watch|surface|2|56", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "Pencil|surface|7|43", "CreditCard|surface|7|0", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.563 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.323 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Watch|surface|2|56", "direction": "front", "distance_3d": 0.318 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.445 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.462 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.192 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.17 }, { "object": "Watch|surface|2|56", "direction": "front-left", "distance_3d": 0.2 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.232 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "Watch|surface|2|56", "direction": "right", "distance_3d": 0.163 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ], "Watch|surface|2|56": [ { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.163 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.192 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.2 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.232 }, { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.318 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.323 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.462 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.563 } ] }, "Q3_type_count": 9, "Q4_count": 9 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "bounding_boxes": [ [ 97, 0, 106, 1 ], [ 87, 0, 96, 0 ] ], "distances_to_camera": [ 6.077, 6.236 ], "positions_3d": [ [ 0.296, 0.626, 3.683 ], [ 0.122, 0.627, 3.619 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ], "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0", "Watch|surface|2|56" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 430, 105, 449, 112 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 465, 120, 485, 123 ], [ 480, 81, 551, 212 ], [ 433, 145, 473, 179 ], [ 472, 143, 483, 158 ] ], "distances_to_camera": [ 0.995, 0.938, 1.333, 1.252, 1.133, 1.268, 0.877, 0.937, 1.072 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ], [ 5.703, 0.861, 3.302 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Watch|surface|2|56", "Newspaper|surface|7|35", "HousePlant|surface|7|31", "Pencil|surface|7|43", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.563 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.323 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.318 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.445 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.462 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.192 }, { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.17 }, { "object": "Watch|surface|2|56", "direction": "front", "distance_3d": 0.2 }, { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "Watch|surface|2|56", "direction": "back-left", "distance_3d": 0.232 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.163 }, { "object": "CellPhone|surface|7|39", "direction": "left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ], "Watch|surface|2|56": [ { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.163 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.192 }, { "object": "Pencil|surface|7|43", "direction": "back", "distance_3d": 0.2 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.232 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.318 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.323 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.462 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.563 } ] }, "Q3_type_count": 9, "Q4_count": 9 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0", "Watch|surface|2|56" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 392, 93, 413, 104 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 434, 92, 449, 99 ], [ 501, 23, 578, 156 ], [ 464, 116, 498, 149 ], [ 467, 109, 482, 118 ] ], "distances_to_camera": [ 0.792, 0.944, 1.347, 1.115, 1.176, 1.383, 1.181, 1.092, 1.246 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ], [ 5.703, 0.861, 3.302 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "Tomato|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Watch|surface|2|56", "CreditCard|surface|7|0", "Pencil|surface|7|43" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.452 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.563 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.323 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.318 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.445 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.462 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.192 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "back", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "left", "distance_3d": 0.17 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.2 }, { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.206 }, { "object": "Watch|surface|2|56", "direction": "back-left", "distance_3d": 0.232 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "Watch|surface|2|56", "direction": "back", "distance_3d": 0.163 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.452 } ], "Watch|surface|2|56": [ { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.163 }, { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.192 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.2 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.232 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.318 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.323 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.462 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.563 } ] }, "Q3_type_count": 9, "Q4_count": 9 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0", "Watch|surface|2|56" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 441, 156, 455, 171 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 422, 182, 424, 200 ], [ 243, 84, 321, 217 ], [ 314, 137, 350, 172 ], [ 352, 180, 374, 192 ] ], "distances_to_camera": [ 1.385, 1.143, 0.952, 1.223, 0.98, 0.798, 0.836, 0.952, 0.823 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ], [ 5.703, 0.861, 3.302 ] ], "qa_pairs": { "Q1_sort": [ "Pencil|surface|7|43", "Watch|surface|2|56", "Statue|surface|7|33", "CreditCard|surface|7|0", "Tomato|surface|7|0", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.452 }, { "object": "Watch|surface|2|56", "direction": "front", "distance_3d": 0.563 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.323 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Watch|surface|2|56", "direction": "front-left", "distance_3d": 0.318 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "front", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.445 }, { "object": "Watch|surface|2|56", "direction": "front-left", "distance_3d": 0.462 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "Watch|surface|2|56", "direction": "front-left", "distance_3d": 0.192 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.17 }, { "object": "Watch|surface|2|56", "direction": "left", "distance_3d": 0.2 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "left", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.206 }, { "object": "Watch|surface|2|56", "direction": "right", "distance_3d": 0.232 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.163 }, { "object": "CellPhone|surface|7|39", "direction": "back", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "right", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.452 } ], "Watch|surface|2|56": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.163 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.192 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.2 }, { "object": "Statue|surface|7|33", "direction": "left", "distance_3d": 0.232 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.318 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.323 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.462 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.563 } ] }, "Q3_type_count": 9, "Q4_count": 9 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action12/place_Watch|surface|2|56_from_ArmChair|7|2|0_to_DiningTable|7|1_1771167218941_step25/meta/post_ang90_low.json" }, "topology_clusters": [] } ] } } }, "action13": { "steps": { "place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26": { "status": "pre-place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang135_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang135_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang180_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang180_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang225_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang225_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang45_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang90_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step26/meta/pre_ang90_low.json" }, "topology_clusters": [] } ] }, "place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27": { "status": "post-place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|32" ], "bounding_boxes": [ [ 393, 201, 428, 212 ] ], "distances_to_camera": [ 1.604 ], "positions_3d": [ [ 7.095, 0.465, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|32" ], "Q2_rel": { "RemoteControl|surface|7|32": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|32" ], "bounding_boxes": [ [ 394, 151, 435, 159 ] ], "distances_to_camera": [ 1.604 ], "positions_3d": [ [ 7.095, 0.465, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|32" ], "Q2_rel": { "RemoteControl|surface|7|32": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang135_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang135_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang180_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang180_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|32" ], "bounding_boxes": [ [ 391, 209, 414, 247 ] ], "distances_to_camera": [ 0.981 ], "positions_3d": [ [ 7.095, 0.465, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|32" ], "Q2_rel": { "RemoteControl|surface|7|32": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|32" ], "bounding_boxes": [ [ 385, 115, 423, 155 ] ], "distances_to_camera": [ 0.981 ], "positions_3d": [ [ 7.095, 0.465, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|32" ], "Q2_rel": { "RemoteControl|surface|7|32": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|32" ], "bounding_boxes": [ [ 399, 204, 411, 235 ] ], "distances_to_camera": [ 1.178 ], "positions_3d": [ [ 7.095, 0.465, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|32" ], "Q2_rel": { "RemoteControl|surface|7|32": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|32" ], "bounding_boxes": [ [ 399, 128, 417, 155 ] ], "distances_to_camera": [ 1.178 ], "positions_3d": [ [ 7.095, 0.465, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|32" ], "Q2_rel": { "RemoteControl|surface|7|32": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|32" ], "bounding_boxes": [ [ 394, 199, 428, 222 ] ], "distances_to_camera": [ 1.383 ], "positions_3d": [ [ 7.095, 0.465, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|32" ], "Q2_rel": { "RemoteControl|surface|7|32": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|32" ], "bounding_boxes": [ [ 392, 137, 438, 154 ] ], "distances_to_camera": [ 1.383 ], "positions_3d": [ [ 7.095, 0.465, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|32" ], "Q2_rel": { "RemoteControl|surface|7|32": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang45_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang90_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action13/place_RemoteControl|surface|7|32_from_Desk|7|3_to_ArmChair|7|2|0_1771167228086_step27/meta/post_ang90_low.json" }, "topology_clusters": [] } ] } } }, "action14": { "steps": { "place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28": { "status": "pre-place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang0_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 517, 147, 607, 204 ], [ 222, 91, 264, 160 ], [ 289, 63, 317, 129 ], [ 227, 93, 283, 134 ], [ 282, 193, 305, 219 ], [ 496, 138, 509, 162 ], [ 392, 118, 405, 136 ], [ 395, 141, 406, 168 ], [ 430, 123, 440, 142 ], [ 320, 106, 376, 222 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.304, 1.474, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Spoon|surface|6|4", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang0_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 562, 31, 727, 54 ], [ 163, 0, 211, 39 ], [ 259, 0, 292, 31 ], [ 203, 0, 247, 32 ], [ 205, 47, 253, 60 ], [ 534, 0, 557, 40 ], [ 389, 7, 408, 29 ], [ 393, 29, 409, 42 ], [ 439, 27, 454, 33 ], [ 277, 0, 361, 60 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.304, 1.474, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Spoon|surface|6|4", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 300, 59, 381, 100 ], [ 522, 157, 574, 232 ], [ 430, 163, 464, 239 ], [ 454, 210, 553, 286 ], [ 517, 142, 548, 164 ], [ 346, 80, 357, 104 ], [ 370, 144, 387, 163 ], [ 390, 131, 424, 154 ], [ 335, 131, 369, 153 ], [ 461, 31, 521, 151 ] ], "distances_to_camera": [ 1.908, 0.933, 0.785, 0.696, 1.345, 1.658, 1.16, 1.285, 1.313, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "CellPhone|surface|6|13", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|26", "Bowl|surface|6|11", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 277, 0, 354, 4 ], [ 455, 0, 516, 54 ], [ 524, 0, 721, 83 ], [ 332, 0, 344, 5 ], [ 355, 0, 381, 20 ], [ 385, 8, 434, 20 ], [ 305, 7, 355, 19 ], [ 512, 0, 530, 18 ] ], "distances_to_camera": [ 1.908, 0.785, 0.696, 1.658, 1.16, 1.285, 1.313, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 220, 84, 299, 133 ], [ 551, 88, 603, 157 ], [ 501, 128, 547, 205 ], [ 549, 156, 628, 215 ], [ 491, 96, 509, 114 ], [ 293, 103, 307, 129 ], [ 387, 151, 404, 172 ], [ 394, 127, 407, 154 ], [ 347, 146, 360, 182 ], [ 432, 5, 478, 116 ] ], "distances_to_camera": [ 1.603, 1.291, 0.979, 1.076, 1.568, 1.395, 1.041, 1.215, 1.1, 1.535 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Bottle|surface|6|25", "PepperShaker|surface|6|24", "Statue|surface|6|7", "CellPhone|surface|6|13", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "Potato|surface|6|0", "Spoon|surface|6|4" ], "bounding_boxes": [ [ 633, 0, 660, 8 ], [ 573, 0, 629, 25 ], [ 659, 0, 785, 29 ], [ 383, 0, 405, 8 ], [ 313, 0, 338, 13 ] ], "distances_to_camera": [ 1.291, 0.979, 1.076, 1.041, 1.1 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.648, 0.814, 5.533 ], [ 5.471, 0.784, 5.557 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "Spoon|surface|6|4", "Bottle|surface|6|25" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.855 } ], "Potato|surface|6|0": [ { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.855 } ] }, "Q3_type_count": 4, "Q4_count": 5 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 183, 156, 290, 233 ], [ 481, 34, 507, 100 ], [ 494, 67, 527, 136 ], [ 520, 77, 568, 123 ], [ 396, 79, 423, 93 ], [ 291, 158, 307, 185 ], [ 409, 145, 429, 163 ], [ 375, 132, 409, 154 ], [ 371, 164, 406, 190 ], [ 354, 17, 405, 115 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.317, 1.089, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 59, 21, 222, 56 ], [ 502, 0, 526, 11 ], [ 528, 0, 562, 20 ], [ 557, 0, 601, 16 ], [ 403, 4, 414, 8 ], [ 229, 0, 256, 36 ], [ 413, 0, 444, 26 ], [ 365, 14, 414, 25 ], [ 357, 22, 410, 37 ], [ 341, 0, 407, 14 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.317, 1.089, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang270_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 299, 210, 394, 257 ], [ 386, 60, 402, 109 ], [ 427, 71, 444, 122 ], [ 412, 83, 450, 110 ], [ 326, 118, 349, 124 ], [ 373, 180, 382, 203 ], [ 414, 140, 430, 153 ], [ 373, 149, 408, 154 ], [ 404, 166, 443, 170 ], [ 316, 69, 352, 145 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.653, 1.488, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang270_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 237, 88, 391, 108 ], [ 384, 12, 402, 69 ], [ 431, 8, 451, 71 ], [ 414, 47, 456, 62 ], [ 341, 69, 341, 69 ], [ 363, 54, 375, 88 ], [ 417, 59, 437, 77 ], [ 376, 74, 410, 78 ], [ 406, 77, 456, 81 ], [ 299, 0, 343, 76 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.653, 1.488, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang315_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 219, 551, 331 ], [ 293, 29, 320, 96 ], [ 363, 28, 385, 95 ], [ 318, 43, 365, 84 ], [ 253, 129, 289, 149 ], [ 451, 193, 467, 220 ], [ 413, 121, 428, 139 ], [ 372, 141, 409, 164 ], [ 431, 146, 463, 164 ], [ 264, 72, 331, 183 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.91, 1.428, 0.861, 1.323, 1.205, 1.193, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang315_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 437, 35, 710, 121 ], [ 277, 0, 298, 1 ], [ 359, 0, 379, 1 ], [ 190, 9, 204, 16 ], [ 490, 0, 521, 44 ], [ 418, 0, 440, 10 ], [ 358, 8, 414, 21 ], [ 447, 11, 492, 19 ], [ 199, 0, 297, 28 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.428, 0.861, 1.323, 1.205, 1.193, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|25": [ { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 493, 84, 583, 138 ], [ 223, 165, 278, 241 ], [ 246, 101, 290, 177 ], [ 173, 149, 259, 214 ], [ 363, 237, 407, 274 ], [ 480, 96, 494, 121 ], [ 370, 120, 390, 138 ], [ 390, 141, 426, 164 ], [ 393, 112, 426, 128 ], [ 392, 106, 467, 250 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.171, 1.4, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang45_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 544, 0, 647, 6 ], [ 90, 0, 174, 49 ], [ 183, 0, 228, 20 ], [ 42, 0, 111, 35 ], [ 326, 42, 415, 68 ], [ 511, 0, 525, 1 ], [ 361, 0, 382, 3 ], [ 384, 1, 441, 12 ], [ 423, 0, 433, 2 ], [ 385, 0, 523, 55 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.171, 1.4, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 415, 94, 471, 113 ], [ 375, 172, 403, 241 ], [ 321, 140, 349, 194 ], [ 288, 193, 358, 243 ], [ 461, 198, 495, 209 ], [ 421, 101, 427, 119 ], [ 368, 138, 385, 151 ], [ 391, 148, 426, 153 ], [ 364, 134, 399, 136 ], [ 452, 85, 496, 189 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.607, 1.793, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step28/meta/pre_ang90_low.json" }, "topology_clusters": [ { "receptacle": "CounterTop|6|0", "relation": "supports", "room": "room0", "members": [ "ButterKnife|surface|6|19", "Egg|surface|6|20", "Kettle|surface|6|14", "Knife|surface|6|21", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Spatula|surface|6|16", "Spatula|surface|6|17", "Spatula|surface|6|18", "Spoon|surface|6|3", "Statue|surface|6|6", "Tomato|surface|6|4" ], "bounding_boxes": [ [ 549, 30, 554, 31 ], [ 530, 26, 532, 28 ], [ 579, 18, 592, 32 ], [ 505, 32, 505, 32 ], [ 513, 25, 519, 32 ], [ 514, 18, 515, 24 ], [ 522, 32, 526, 32 ], [ 527, 32, 544, 32 ], [ 623, 32, 630, 32 ], [ 520, 31, 525, 32 ], [ 528, 0, 544, 32 ], [ 533, 23, 543, 31 ] ], "distances_to_camera": [ 5.811, 6.21, 7.435, 6.446, 6.93, 7.081, 6.655, 6.083, 7.679, 5.707, 5.746, 5.915 ], "positions_3d": [ [ 1.704, 0.954, 7.484 ], [ 1.244, 0.976, 7.328 ], [ 0.329, 0.943, 8.467 ], [ 0.936, 0.945, 7.048 ], [ 0.483, 0.938, 7.245 ], [ 0.329, 0.938, 7.245 ], [ 0.785, 0.946, 7.328 ], [ 1.397, 0.946, 7.406 ], [ 0.329, 0.946, 9.078 ], [ 1.704, 0.939, 7.095 ], [ 1.704, 0.938, 7.251 ], [ 1.55, 0.99, 7.328 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|3", "Statue|surface|6|6", "ButterKnife|surface|6|19", "Tomato|surface|6|4", "Spatula|surface|6|17", "Egg|surface|6|20", "Knife|surface|6|21", "Spatula|surface|6|16", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Kettle|surface|6|14", "Spatula|surface|6|18" ], "Q2_rel": { "ButterKnife|surface|6|19": [ { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.222 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back-left", "distance_3d": 0.317 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.389 }, { "object": "Egg|surface|6|20", "direction": "back-left", "distance_3d": 0.486 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.883 }, { "object": "Spatula|surface|6|16", "direction": "back-left", "distance_3d": 0.932 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.244 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.396 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.69 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.105 } ], "Egg|surface|6|20": [ { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.46 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.468 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.486 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.517 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.766 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 0.92 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.975 } ], "Kettle|surface|6|14": [ { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 0.611 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.222 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.227 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.232 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.505 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 1.543 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 1.67 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 1.69 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 1.836 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 1.942 } ], "Knife|surface|6|21": [ { "object": "Spatula|surface|6|16", "direction": "back-right", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.494 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.584 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.638 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 0.676 }, { "object": "Spoon|surface|6|3", "direction": "front-right", "distance_3d": 0.769 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 0.794 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.883 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.543 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.119 } ], "Mug|surface|6|28": [ { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.494 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.766 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.928 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.071 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.221 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.23 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.232 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.244 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.839 } ], "SaltShaker|surface|6|22": [ { "object": "Mug|surface|6|28", "direction": "front", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.464 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.638 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.92 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.222 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.225 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.375 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.383 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.396 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.833 } ], "Spatula|surface|6|16": [ { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.46 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.464 }, { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.617 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.766 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.922 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.932 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.948 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.227 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.808 } ], "Spatula|surface|6|17": [ { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.177 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.317 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.344 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.437 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.584 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.617 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 0.928 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.505 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.984 } ], "Spatula|surface|6|18": [ { "object": "Kettle|surface|6|14", "direction": "front-left", "distance_3d": 0.611 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.808 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.833 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.839 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.975 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.984 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 2.105 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 2.119 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 2.134 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 2.287 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 2.413 } ], "Spoon|surface|6|3": [ { "object": "Statue|surface|6|6", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back-right", "distance_3d": 0.284 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.389 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.437 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.517 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.769 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.948 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 1.23 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 1.383 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.942 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.413 } ], "Statue|surface|6|6": [ { "object": "Spoon|surface|6|3", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.344 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.468 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.922 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.221 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.375 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.836 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.287 } ], "Tomato|surface|6|4": [ { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.177 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "front", "distance_3d": 0.222 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.284 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.676 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.766 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.071 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.225 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.67 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.134 } ] }, "Q3_type_count": 10, "Q4_count": 12 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 58, 482, 64 ], [ 360, 0, 406, 98 ], [ 288, 0, 328, 86 ], [ 218, 45, 336, 99 ], [ 485, 82, 536, 88 ], [ 424, 43, 431, 65 ], [ 360, 55, 362, 68 ], [ 405, 68, 434, 73 ], [ 356, 68, 361, 68 ], [ 467, 0, 531, 81 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.607, 1.793, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.181 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 10 } } ] } ] }, "place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29": { "status": "post-place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 517, 147, 607, 204 ], [ 222, 91, 264, 160 ], [ 289, 63, 317, 129 ], [ 227, 93, 283, 134 ], [ 282, 193, 305, 219 ], [ 496, 138, 509, 162 ], [ 392, 118, 405, 136 ], [ 351, 133, 383, 142 ], [ 395, 141, 406, 168 ], [ 430, 123, 440, 142 ], [ 320, 106, 376, 222 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.45, 1.304, 1.474, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "RemoteControl|surface|7|32", "Bottle|surface|6|25", "Potato|surface|6|0", "Spoon|surface|6|4", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 562, 31, 727, 54 ], [ 163, 0, 211, 39 ], [ 259, 0, 292, 31 ], [ 203, 0, 247, 32 ], [ 205, 47, 253, 60 ], [ 534, 0, 557, 40 ], [ 389, 7, 408, 29 ], [ 317, 27, 377, 34 ], [ 393, 29, 409, 42 ], [ 439, 27, 454, 33 ], [ 277, 0, 361, 60 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.45, 1.304, 1.474, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "RemoteControl|surface|7|32", "Bottle|surface|6|25", "Potato|surface|6|0", "Spoon|surface|6|4", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 300, 59, 381, 100 ], [ 522, 157, 574, 232 ], [ 430, 163, 464, 239 ], [ 454, 210, 553, 286 ], [ 517, 142, 548, 164 ], [ 346, 80, 357, 104 ], [ 370, 144, 387, 163 ], [ 393, 163, 439, 192 ], [ 390, 131, 424, 154 ], [ 335, 131, 369, 153 ], [ 461, 31, 521, 151 ] ], "distances_to_camera": [ 1.908, 0.933, 0.785, 0.696, 1.345, 1.658, 1.16, 1.059, 1.285, 1.313, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "RemoteControl|surface|7|32", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "CellPhone|surface|6|13", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "front", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|26", "Bowl|surface|6|11", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 277, 0, 354, 4 ], [ 455, 0, 516, 54 ], [ 524, 0, 721, 83 ], [ 332, 0, 344, 5 ], [ 355, 0, 381, 20 ], [ 389, 18, 454, 33 ], [ 385, 8, 434, 19 ], [ 305, 7, 355, 19 ], [ 512, 0, 530, 18 ] ], "distances_to_camera": [ 1.908, 0.785, 0.696, 1.658, 1.16, 1.059, 1.285, 1.313, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|32", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.911 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.304 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.509 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.471 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.509 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "front", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 220, 84, 299, 133 ], [ 551, 88, 603, 157 ], [ 501, 128, 547, 205 ], [ 549, 156, 628, 215 ], [ 491, 96, 509, 114 ], [ 293, 103, 307, 129 ], [ 387, 151, 404, 172 ], [ 415, 160, 468, 174 ], [ 394, 127, 407, 154 ], [ 347, 146, 360, 182 ], [ 432, 5, 478, 116 ] ], "distances_to_camera": [ 1.603, 1.291, 0.979, 1.076, 1.568, 1.395, 1.041, 1.067, 1.215, 1.1, 1.535 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "RemoteControl|surface|7|32", "Bowl|surface|6|11", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Bottle|surface|6|25", "PepperShaker|surface|6|24", "Statue|surface|6|7", "CellPhone|surface|6|13", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "front", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "Potato|surface|6|0", "RemoteControl|surface|7|32", "Spoon|surface|6|4" ], "bounding_boxes": [ [ 633, 0, 660, 8 ], [ 573, 0, 629, 25 ], [ 659, 0, 785, 29 ], [ 383, 0, 405, 8 ], [ 424, 0, 511, 11 ], [ 313, 0, 338, 13 ] ], "distances_to_camera": [ 1.291, 0.979, 1.076, 1.041, 1.067, 1.1 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.471, 0.784, 5.557 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "RemoteControl|surface|7|32", "Bowl|surface|6|11", "Spoon|surface|6|4", "Bottle|surface|6|25" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.497 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.638 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.509 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.855 } ], "Potato|surface|6|0": [ { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "left", "distance_3d": 0.355 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.509 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.355 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.855 } ] }, "Q3_type_count": 5, "Q4_count": 6 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 183, 156, 290, 233 ], [ 481, 34, 507, 100 ], [ 494, 67, 527, 136 ], [ 520, 77, 568, 123 ], [ 396, 79, 423, 93 ], [ 291, 158, 307, 185 ], [ 409, 145, 429, 163 ], [ 425, 128, 462, 152 ], [ 375, 132, 409, 154 ], [ 371, 164, 406, 190 ], [ 354, 17, 405, 115 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.35, 1.317, 1.089, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "RemoteControl|surface|7|32", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 59, 21, 222, 56 ], [ 502, 0, 526, 11 ], [ 528, 0, 562, 20 ], [ 557, 0, 601, 16 ], [ 403, 4, 414, 8 ], [ 229, 0, 256, 36 ], [ 413, 0, 444, 26 ], [ 440, 14, 486, 24 ], [ 365, 14, 414, 25 ], [ 357, 22, 410, 37 ], [ 341, 0, 407, 14 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.35, 1.317, 1.089, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "RemoteControl|surface|7|32", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 299, 210, 394, 257 ], [ 386, 60, 402, 109 ], [ 427, 71, 444, 122 ], [ 412, 83, 450, 110 ], [ 326, 118, 349, 124 ], [ 373, 180, 382, 203 ], [ 414, 140, 430, 153 ], [ 408, 129, 420, 146 ], [ 373, 149, 408, 154 ], [ 404, 166, 443, 170 ], [ 316, 69, 352, 145 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.84, 1.653, 1.488, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Potato|surface|6|0", "RemoteControl|surface|7|32", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "back", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "back", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 237, 88, 391, 108 ], [ 384, 12, 402, 69 ], [ 431, 8, 451, 71 ], [ 414, 47, 456, 62 ], [ 341, 69, 341, 69 ], [ 363, 54, 375, 88 ], [ 417, 59, 437, 77 ], [ 410, 70, 421, 76 ], [ 376, 74, 410, 78 ], [ 406, 77, 456, 81 ], [ 299, 0, 343, 76 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.84, 1.653, 1.488, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Potato|surface|6|0", "RemoteControl|surface|7|32", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "back", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 219, 551, 331 ], [ 293, 29, 320, 96 ], [ 363, 28, 385, 95 ], [ 318, 43, 365, 84 ], [ 253, 129, 289, 149 ], [ 451, 193, 467, 220 ], [ 413, 121, 428, 139 ], [ 370, 110, 407, 134 ], [ 372, 141, 409, 164 ], [ 431, 146, 463, 164 ], [ 264, 72, 331, 183 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.91, 1.428, 0.861, 1.323, 1.435, 1.205, 1.193, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "RemoteControl|surface|7|32", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "front", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "back", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 437, 35, 710, 121 ], [ 277, 0, 298, 1 ], [ 359, 0, 379, 1 ], [ 190, 9, 204, 16 ], [ 490, 0, 521, 44 ], [ 418, 0, 440, 10 ], [ 359, 1, 411, 9 ], [ 358, 8, 414, 21 ], [ 447, 11, 492, 19 ], [ 199, 0, 297, 28 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.428, 0.861, 1.323, 1.435, 1.205, 1.193, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Spoon|surface|6|4", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "RemoteControl|surface|7|32", "Bottle|surface|6|26", "Bottle|surface|6|25" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|25": [ { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "RemoteControl|surface|7|32", "direction": "front-right", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "front-right", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.497 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "back", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.848 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 10 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 493, 84, 583, 138 ], [ 223, 165, 278, 241 ], [ 246, 101, 290, 177 ], [ 173, 149, 259, 214 ], [ 363, 237, 407, 274 ], [ 480, 96, 494, 121 ], [ 370, 120, 390, 138 ], [ 329, 143, 374, 172 ], [ 390, 141, 426, 164 ], [ 393, 112, 426, 128 ], [ 392, 106, 467, 250 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.165, 1.171, 1.4, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "RemoteControl|surface|7|32", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang45_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 544, 0, 647, 6 ], [ 90, 0, 174, 49 ], [ 183, 0, 228, 20 ], [ 42, 0, 111, 35 ], [ 326, 42, 415, 68 ], [ 511, 0, 525, 1 ], [ 361, 0, 382, 3 ], [ 290, 3, 362, 18 ], [ 384, 1, 441, 12 ], [ 423, 0, 433, 2 ], [ 385, 0, 523, 55 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.165, 1.171, 1.4, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "RemoteControl|surface|7|32", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "right", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 415, 94, 471, 113 ], [ 375, 172, 403, 241 ], [ 321, 140, 349, 194 ], [ 288, 193, 358, 243 ], [ 461, 198, 495, 209 ], [ 421, 101, 427, 119 ], [ 368, 138, 385, 151 ], [ 369, 157, 384, 180 ], [ 391, 148, 426, 153 ], [ 364, 134, 399, 136 ], [ 452, 85, 496, 189 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.442, 1.607, 1.793, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "front", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "front", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action14/place_RemoteControl|surface|7|32_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167239888_step29/meta/post_ang90_low.json" }, "topology_clusters": [ { "receptacle": "CounterTop|6|0", "relation": "supports", "room": "room0", "members": [ "ButterKnife|surface|6|19", "Egg|surface|6|20", "Kettle|surface|6|14", "Knife|surface|6|21", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Spatula|surface|6|16", "Spatula|surface|6|17", "Spatula|surface|6|18", "Spoon|surface|6|3", "Statue|surface|6|6", "Tomato|surface|6|4" ], "bounding_boxes": [ [ 549, 30, 554, 31 ], [ 530, 26, 532, 28 ], [ 579, 18, 592, 32 ], [ 505, 32, 505, 32 ], [ 513, 25, 519, 32 ], [ 514, 18, 515, 24 ], [ 522, 32, 526, 32 ], [ 527, 32, 544, 32 ], [ 623, 32, 630, 32 ], [ 520, 31, 525, 32 ], [ 528, 0, 544, 32 ], [ 533, 23, 543, 31 ] ], "distances_to_camera": [ 5.811, 6.21, 7.435, 6.446, 6.93, 7.081, 6.655, 6.083, 7.679, 5.707, 5.746, 5.915 ], "positions_3d": [ [ 1.704, 0.954, 7.484 ], [ 1.244, 0.976, 7.328 ], [ 0.329, 0.943, 8.467 ], [ 0.936, 0.945, 7.048 ], [ 0.483, 0.938, 7.245 ], [ 0.329, 0.938, 7.245 ], [ 0.785, 0.946, 7.328 ], [ 1.397, 0.946, 7.406 ], [ 0.329, 0.946, 9.078 ], [ 1.704, 0.939, 7.095 ], [ 1.704, 0.938, 7.251 ], [ 1.55, 0.99, 7.328 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|3", "Statue|surface|6|6", "ButterKnife|surface|6|19", "Tomato|surface|6|4", "Spatula|surface|6|17", "Egg|surface|6|20", "Knife|surface|6|21", "Spatula|surface|6|16", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Kettle|surface|6|14", "Spatula|surface|6|18" ], "Q2_rel": { "ButterKnife|surface|6|19": [ { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.222 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back-left", "distance_3d": 0.317 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.389 }, { "object": "Egg|surface|6|20", "direction": "back-left", "distance_3d": 0.486 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.883 }, { "object": "Spatula|surface|6|16", "direction": "back-left", "distance_3d": 0.932 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.244 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.396 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.69 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.105 } ], "Egg|surface|6|20": [ { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.46 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.468 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.486 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.517 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.766 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 0.92 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.975 } ], "Kettle|surface|6|14": [ { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 0.611 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.222 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.227 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.232 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.505 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 1.543 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 1.67 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 1.69 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 1.836 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 1.942 } ], "Knife|surface|6|21": [ { "object": "Spatula|surface|6|16", "direction": "back-right", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.494 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.584 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.638 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 0.676 }, { "object": "Spoon|surface|6|3", "direction": "front-right", "distance_3d": 0.769 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 0.794 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.883 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.543 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.119 } ], "Mug|surface|6|28": [ { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.494 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.766 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.928 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.071 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.221 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.23 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.232 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.244 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.839 } ], "SaltShaker|surface|6|22": [ { "object": "Mug|surface|6|28", "direction": "front", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.464 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.638 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.92 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.222 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.225 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.375 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.383 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.396 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.833 } ], "Spatula|surface|6|16": [ { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.46 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.464 }, { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.617 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.766 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.922 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.932 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.948 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.227 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.808 } ], "Spatula|surface|6|17": [ { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.177 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.317 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.344 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.437 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.584 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.617 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 0.928 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.505 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.984 } ], "Spatula|surface|6|18": [ { "object": "Kettle|surface|6|14", "direction": "front-left", "distance_3d": 0.611 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.808 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.833 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.839 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.975 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.984 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 2.105 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 2.119 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 2.134 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 2.287 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 2.413 } ], "Spoon|surface|6|3": [ { "object": "Statue|surface|6|6", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back-right", "distance_3d": 0.284 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.389 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.437 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.517 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.769 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.948 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 1.23 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 1.383 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.942 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.413 } ], "Statue|surface|6|6": [ { "object": "Spoon|surface|6|3", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.344 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.468 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.922 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.221 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.375 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.836 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.287 } ], "Tomato|surface|6|4": [ { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.177 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "front", "distance_3d": 0.222 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.284 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.676 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.766 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.071 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.225 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.67 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.134 } ] }, "Q3_type_count": 10, "Q4_count": 12 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Spoon|surface|6|4", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 58, 482, 64 ], [ 360, 0, 406, 98 ], [ 288, 0, 328, 86 ], [ 218, 45, 336, 99 ], [ 485, 82, 536, 88 ], [ 424, 43, 431, 65 ], [ 360, 55, 362, 68 ], [ 359, 73, 364, 79 ], [ 405, 68, 434, 73 ], [ 356, 68, 361, 68 ], [ 467, 0, 531, 81 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.442, 1.607, 1.793, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.826, 0.783, 5.557 ], [ 5.648, 0.781, 5.705 ], [ 5.471, 0.784, 5.557 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|32", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Spoon|surface|6|4", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.598 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.911 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.497 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.848 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.304 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.638 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "RemoteControl|surface|7|32", "direction": "back-right", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Spoon|surface|6|4", "direction": "back-right", "distance_3d": 0.855 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|32", "direction": "back-left", "distance_3d": 0.539 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.778 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Spoon|surface|6|4", "direction": "front-left", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.659 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|32", "direction": "front", "distance_3d": 0.182 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|32": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.182 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.231 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.304 }, { "object": "Spoon|surface|6|4", "direction": "back", "distance_3d": 0.355 }, { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.471 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.497 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.509 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.539 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.659 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.911 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "RemoteControl|surface|7|32", "direction": "front-left", "distance_3d": 0.231 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.231 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Spoon|surface|6|4": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.181 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.231 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.346 }, { "object": "RemoteControl|surface|7|32", "direction": "front", "distance_3d": 0.355 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.598 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.638 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.778 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.848 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.855 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "RemoteControl|surface|7|32", "direction": "left", "distance_3d": 0.471 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Spoon|surface|6|4", "direction": "back-left", "distance_3d": 0.616 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 9, "Q4_count": 11 } } ] } ] } } }, "action2": { "steps": { "spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4": { "status": "pre-spawn_CreditCard_4_in_DiningTable|7|1_1771167095856", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 339, 0, 466, 124 ], [ 395, 131, 446, 165 ], [ 385, 107, 450, 240 ] ], "distances_to_camera": [ 1.292, 1.088, 1.382, 1.141, 0.75 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ] }, "Q3_type_count": 5, "Q4_count": 5 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "bounding_boxes": [ [ 97, 0, 106, 1 ], [ 87, 0, 96, 0 ] ], "distances_to_camera": [ 6.077, 6.236 ], "positions_3d": [ [ 0.296, 0.626, 3.683 ], [ 0.122, 0.627, 3.619 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ], "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 480, 81, 551, 212 ] ], "distances_to_camera": [ 0.995, 0.938, 1.252, 1.133, 0.877 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 5, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 501, 23, 578, 156 ] ], "distances_to_camera": [ 0.792, 0.944, 1.115, 1.176, 1.181 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 5, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 243, 84, 321, 217 ] ], "distances_to_camera": [ 1.385, 1.143, 1.223, 0.98, 0.836 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ] }, "Q3_type_count": 5, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step4/meta/pre_ang90_low.json" }, "topology_clusters": [] } ] }, "spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5": { "status": "post-spawn_CreditCard_4_in_DiningTable|7|1_1771167095856", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 446, 123, 468, 135 ], [ 339, 0, 466, 124 ], [ 395, 131, 446, 165 ], [ 385, 107, 450, 240 ] ], "distances_to_camera": [ 1.292, 1.088, 1.288, 1.382, 1.141, 0.75 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "CreditCard|surface|7|0", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.202 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|40", "CellPhone|surface|7|41" ], "bounding_boxes": [ [ 87, 0, 96, 0 ], [ 97, 0, 106, 1 ] ], "distances_to_camera": [ 6.236, 6.077 ], "positions_3d": [ [ 0.122, 0.627, 3.619 ], [ 0.296, 0.626, 3.683 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ], "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 430, 105, 449, 112 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 480, 81, 551, 212 ] ], "distances_to_camera": [ 0.995, 0.938, 1.333, 1.252, 1.133, 0.877 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.202 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 392, 93, 413, 104 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 501, 23, 578, 156 ] ], "distances_to_camera": [ 0.792, 0.944, 1.347, 1.115, 1.176, 1.181 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.202 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 441, 156, 455, 171 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 243, 84, 321, 217 ] ], "distances_to_camera": [ 1.385, 1.143, 0.952, 1.223, 0.98, 0.836 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CreditCard|surface|7|0", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.202 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action2/spawn_CreditCard_4_in_DiningTable|7|1_1771167095856_step5/meta/post_ang90_low.json" }, "topology_clusters": [] } ] } } }, "action3": { "steps": { "place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6": { "status": "pre-place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang0_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 146, 141, 267, 224 ], [ 199, 83, 293, 143 ], [ 577, 128, 657, 234 ] ], "distances_to_camera": [ 1.278, 1.73, 1.419 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang0_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 0, 0, 200, 64 ], [ 183, 0, 263, 36 ], [ 637, 19, 799, 71 ] ], "distances_to_camera": [ 1.278, 1.73, 1.419 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 363, 76, 426, 112 ], [ 439, 83, 505, 122 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 2.379, 2.273, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 359, 47, 429, 72 ], [ 444, 47, 520, 74 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 2.379, 2.273, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 363, 76, 426, 112 ], [ 439, 83, 505, 122 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 2.379, 2.273, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 359, 47, 429, 72 ], [ 444, 47, 520, 74 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 2.379, 2.273, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang270_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 323, 72, 389, 111 ], [ 404, 71, 470, 110 ], [ 263, 260, 455, 319 ] ], "distances_to_camera": [ 2.276, 2.285, 0.671 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang270_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 313, 36, 388, 63 ], [ 405, 36, 480, 63 ], [ 139, 94, 503, 139 ] ], "distances_to_camera": [ 2.276, 2.285, 0.671 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang315_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 193, 87, 288, 148 ], [ 280, 53, 359, 103 ], [ 514, 204, 613, 342 ] ], "distances_to_camera": [ 1.7, 1.997, 0.894 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang315_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 120, 0, 256, 38 ], [ 255, 0, 351, 26 ], [ 640, 39, 799, 146 ] ], "distances_to_camera": [ 1.7, 1.997, 0.894 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang45_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step6/meta/pre_ang90_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] } ] }, "place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7": { "status": "post-place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 146, 141, 267, 224 ], [ 199, 83, 293, 143 ], [ 396, 142, 404, 168 ], [ 577, 128, 657, 234 ] ], "distances_to_camera": [ 1.278, 1.73, 1.3, 1.419 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 0, 0, 200, 64 ], [ 183, 0, 263, 36 ], [ 394, 33, 407, 43 ], [ 637, 19, 799, 71 ] ], "distances_to_camera": [ 1.278, 1.73, 1.3, 1.419 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 384, 146, 415, 164 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 1.442, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 379, 57, 420, 64 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 1.442, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 363, 76, 426, 112 ], [ 439, 83, 505, 122 ], [ 383, 153, 418, 163 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 2.379, 2.273, 1.586, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "RemoteControl|surface|7|42", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 359, 47, 429, 72 ], [ 444, 47, 520, 74 ], [ 379, 79, 423, 84 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 2.379, 2.273, 1.586, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "RemoteControl|surface|7|42", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 363, 76, 426, 112 ], [ 439, 83, 505, 122 ], [ 383, 153, 418, 163 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 2.379, 2.273, 1.586, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "RemoteControl|surface|7|42", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 359, 47, 429, 72 ], [ 444, 47, 520, 74 ], [ 379, 79, 423, 84 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 2.379, 2.273, 1.586, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "RemoteControl|surface|7|42", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 323, 72, 389, 111 ], [ 404, 71, 470, 110 ], [ 382, 154, 419, 159 ], [ 263, 260, 455, 319 ] ], "distances_to_camera": [ 2.276, 2.285, 1.519, 0.671 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "RemoteControl|surface|7|42", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 313, 36, 388, 63 ], [ 405, 36, 480, 63 ], [ 378, 70, 425, 75 ], [ 139, 94, 503, 139 ] ], "distances_to_camera": [ 2.276, 2.285, 1.519, 0.671 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "RemoteControl|surface|7|42", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 193, 87, 288, 148 ], [ 280, 53, 359, 103 ], [ 385, 143, 415, 166 ], [ 514, 204, 613, 342 ] ], "distances_to_camera": [ 1.7, 1.997, 1.299, 0.894 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "RemoteControl|surface|7|42", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 120, 0, 256, 38 ], [ 255, 0, 351, 26 ], [ 379, 34, 422, 44 ], [ 640, 39, 799, 146 ] ], "distances_to_camera": [ 1.7, 1.997, 1.299, 0.894 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "RemoteControl|surface|7|42", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 384, 146, 415, 164 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 1.442, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang45_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 379, 57, 420, 64 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 1.442, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 226, 206, 357, 309 ], [ 166, 150, 279, 226 ], [ 384, 146, 415, 164 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 0.811, 1.324, 1.442, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action3/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_Bed|2|0|0_1771167106914_step7/meta/post_ang90_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 56, 26, 327, 122 ], [ 38, 23, 203, 75 ], [ 379, 57, 420, 64 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 0.811, 1.324, 1.442, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ], [ 11.013, 0.828, 0.449 ], [ 10.263, 0.77, 0.707 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "RemoteControl|surface|7|42", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "RemoteControl|surface|7|42": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.8 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "TennisRacket|surface|2|69": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] } ] } } }, "action4": { "steps": { "spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8": { "status": "pre-spawn_Tomato_4_in_DiningTable|7|1_1771167117834", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 446, 123, 468, 135 ], [ 339, 0, 466, 124 ], [ 395, 131, 446, 165 ], [ 385, 107, 450, 240 ] ], "distances_to_camera": [ 1.292, 1.088, 1.288, 1.382, 1.141, 0.75 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "CreditCard|surface|7|0", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.202 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|40", "CellPhone|surface|7|41" ], "bounding_boxes": [ [ 87, 0, 96, 0 ], [ 97, 0, 106, 1 ] ], "distances_to_camera": [ 6.236, 6.077 ], "positions_3d": [ [ 0.122, 0.627, 3.619 ], [ 0.296, 0.626, 3.683 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ], "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 430, 105, 449, 112 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 480, 81, 551, 212 ] ], "distances_to_camera": [ 0.995, 0.938, 1.333, 1.252, 1.133, 0.877 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.202 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 392, 93, 413, 104 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 501, 23, 578, 156 ] ], "distances_to_camera": [ 0.792, 0.944, 1.347, 1.115, 1.176, 1.181 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.202 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 441, 156, 455, 171 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 243, 84, 321, 217 ] ], "distances_to_camera": [ 1.385, 1.143, 0.952, 1.223, 0.98, 0.836 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CreditCard|surface|7|0", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.202 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step8/meta/pre_ang90_low.json" }, "topology_clusters": [] } ] }, "spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9": { "status": "post-spawn_Tomato_4_in_DiningTable|7|1_1771167117834", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 446, 123, 468, 135 ], [ 339, 0, 466, 124 ], [ 396, 131, 446, 155 ], [ 385, 107, 450, 240 ], [ 381, 154, 411, 186 ] ], "distances_to_camera": [ 1.292, 1.088, 1.288, 1.382, 1.141, 0.75, 0.94 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "CreditCard|surface|7|0", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.202 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.218 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "bounding_boxes": [ [ 97, 0, 106, 1 ], [ 87, 0, 96, 0 ] ], "distances_to_camera": [ 6.077, 6.236 ], "positions_3d": [ [ 0.296, 0.626, 3.683 ], [ 0.122, 0.627, 3.619 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ], "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 430, 105, 449, 112 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 480, 81, 551, 212 ], [ 433, 145, 473, 179 ] ], "distances_to_camera": [ 0.995, 0.938, 1.333, 1.252, 1.133, 0.877, 0.937 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.202 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 392, 93, 413, 104 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 501, 23, 578, 156 ], [ 464, 116, 498, 149 ] ], "distances_to_camera": [ 0.792, 0.944, 1.347, 1.115, 1.176, 1.181, 1.092 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "Tomato|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.202 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 441, 156, 455, 171 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 243, 84, 321, 217 ], [ 314, 137, 350, 172 ] ], "distances_to_camera": [ 1.385, 1.143, 0.952, 1.223, 0.98, 0.836, 0.952 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CreditCard|surface|7|0", "Tomato|surface|7|0", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.202 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "back", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "right", "distance_3d": 0.218 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.452 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action4/spawn_Tomato_4_in_DiningTable|7|1_1771167117834_step9/meta/post_ang90_low.json" }, "topology_clusters": [] } ] } } }, "action5": { "steps": { "place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10": { "status": "pre-place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang135_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang135_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang180_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang180_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang225_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang225_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang45_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang90_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step10/meta/pre_ang90_low.json" }, "topology_clusters": [] } ] }, "place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11": { "status": "post-place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|42" ], "bounding_boxes": [ [ 404, 197, 416, 217 ] ], "distances_to_camera": [ 1.605 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|42" ], "Q2_rel": { "RemoteControl|surface|7|42": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|42" ], "bounding_boxes": [ [ 405, 149, 421, 162 ] ], "distances_to_camera": [ 1.605 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|42" ], "Q2_rel": { "RemoteControl|surface|7|42": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang135_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang135_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang180_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang180_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|42" ], "bounding_boxes": [ [ 382, 219, 423, 235 ] ], "distances_to_camera": [ 0.982 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|42" ], "Q2_rel": { "RemoteControl|surface|7|42": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|42" ], "bounding_boxes": [ [ 371, 124, 437, 143 ] ], "distances_to_camera": [ 0.982 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|42" ], "Q2_rel": { "RemoteControl|surface|7|42": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|42" ], "bounding_boxes": [ [ 386, 215, 424, 222 ] ], "distances_to_camera": [ 1.179 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|42" ], "Q2_rel": { "RemoteControl|surface|7|42": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|42" ], "bounding_boxes": [ [ 380, 136, 436, 144 ] ], "distances_to_camera": [ 1.179 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|42" ], "Q2_rel": { "RemoteControl|surface|7|42": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|42" ], "bounding_boxes": [ [ 397, 201, 424, 221 ] ], "distances_to_camera": [ 1.384 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|42" ], "Q2_rel": { "RemoteControl|surface|7|42": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "ArmChair|7|2|0", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|42" ], "bounding_boxes": [ [ 396, 138, 433, 154 ] ], "distances_to_camera": [ 1.384 ], "positions_3d": [ [ 7.095, 0.464, 0.495 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|42" ], "Q2_rel": { "RemoteControl|surface|7|42": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang45_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang90_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action5/place_RemoteControl|surface|7|42_from_Bed|2|0|0_to_ArmChair|7|2|0_1771167127879_step11/meta/post_ang90_low.json" }, "topology_clusters": [] } ] } } }, "action6": { "steps": { "place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12": { "status": "pre-place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang0_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 517, 147, 607, 204 ], [ 222, 91, 264, 160 ], [ 289, 63, 317, 129 ], [ 227, 93, 283, 134 ], [ 282, 193, 305, 219 ], [ 496, 138, 509, 162 ], [ 392, 118, 405, 136 ], [ 320, 106, 376, 222 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang0_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 562, 31, 727, 54 ], [ 163, 0, 211, 39 ], [ 259, 0, 292, 31 ], [ 203, 0, 247, 32 ], [ 205, 47, 253, 60 ], [ 534, 0, 557, 40 ], [ 389, 7, 408, 30 ], [ 277, 0, 361, 60 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 300, 59, 381, 100 ], [ 522, 157, 574, 232 ], [ 430, 163, 464, 239 ], [ 454, 210, 553, 286 ], [ 517, 142, 548, 164 ], [ 346, 80, 357, 104 ], [ 370, 144, 387, 163 ], [ 461, 31, 521, 151 ] ], "distances_to_camera": [ 1.908, 0.933, 0.785, 0.696, 1.345, 1.658, 1.16, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "Potato|surface|6|0", "CellPhone|surface|6|13", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|26", "Bowl|surface|6|11", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 277, 0, 354, 4 ], [ 455, 0, 516, 54 ], [ 524, 0, 721, 83 ], [ 332, 0, 344, 5 ], [ 355, 0, 381, 20 ], [ 512, 0, 530, 18 ] ], "distances_to_camera": [ 1.908, 0.785, 0.696, 1.658, 1.16, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Potato|surface|6|0", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 220, 84, 299, 133 ], [ 551, 88, 603, 157 ], [ 501, 128, 547, 205 ], [ 549, 156, 628, 215 ], [ 491, 96, 509, 114 ], [ 293, 103, 307, 129 ], [ 387, 151, 404, 172 ], [ 432, 5, 478, 116 ] ], "distances_to_camera": [ 1.603, 1.291, 0.979, 1.076, 1.568, 1.395, 1.041, 1.535 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "Bottle|surface|6|25", "PepperShaker|surface|6|24", "Statue|surface|6|7", "CellPhone|surface|6|13", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "Potato|surface|6|0" ], "bounding_boxes": [ [ 633, 0, 660, 8 ], [ 573, 0, 629, 25 ], [ 659, 0, 785, 29 ], [ 383, 0, 405, 8 ] ], "distances_to_camera": [ 1.291, 0.979, 1.076, 1.041 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.648, 0.814, 5.533 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "Bottle|surface|6|25" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 183, 156, 290, 233 ], [ 481, 34, 507, 100 ], [ 494, 67, 527, 136 ], [ 520, 77, 568, 123 ], [ 396, 79, 423, 93 ], [ 291, 158, 307, 185 ], [ 409, 145, 429, 163 ], [ 354, 17, 405, 115 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 59, 21, 222, 56 ], [ 502, 0, 526, 11 ], [ 528, 0, 562, 20 ], [ 557, 0, 601, 16 ], [ 403, 4, 414, 8 ], [ 229, 0, 256, 36 ], [ 413, 0, 444, 26 ], [ 341, 0, 407, 14 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang270_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 299, 210, 394, 257 ], [ 386, 60, 402, 109 ], [ 427, 71, 444, 122 ], [ 412, 83, 450, 110 ], [ 326, 118, 349, 124 ], [ 373, 180, 382, 203 ], [ 414, 140, 430, 153 ], [ 316, 69, 352, 145 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang270_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 237, 88, 391, 108 ], [ 384, 12, 402, 69 ], [ 431, 8, 451, 71 ], [ 414, 47, 456, 62 ], [ 341, 69, 341, 69 ], [ 363, 54, 375, 88 ], [ 417, 59, 437, 77 ], [ 299, 0, 343, 76 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang315_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 219, 551, 331 ], [ 293, 29, 320, 96 ], [ 363, 28, 385, 95 ], [ 318, 43, 365, 84 ], [ 253, 129, 289, 149 ], [ 451, 193, 467, 220 ], [ 413, 121, 428, 139 ], [ 264, 72, 331, 183 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.91, 1.428, 0.861, 1.323, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang315_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 437, 35, 710, 121 ], [ 277, 0, 298, 1 ], [ 359, 0, 379, 1 ], [ 190, 9, 204, 16 ], [ 490, 0, 521, 44 ], [ 418, 0, 440, 10 ], [ 199, 0, 297, 28 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.428, 0.861, 1.323, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|25": [ { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 6, "Q4_count": 7 } } ] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 493, 84, 583, 138 ], [ 223, 165, 278, 241 ], [ 246, 101, 290, 177 ], [ 173, 149, 259, 214 ], [ 363, 237, 407, 274 ], [ 480, 96, 494, 121 ], [ 370, 120, 390, 138 ], [ 392, 106, 467, 250 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang45_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 544, 0, 647, 6 ], [ 90, 0, 174, 49 ], [ 183, 0, 228, 20 ], [ 42, 0, 111, 35 ], [ 326, 42, 415, 68 ], [ 511, 0, 525, 1 ], [ 361, 0, 382, 3 ], [ 385, 0, 523, 55 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 415, 94, 471, 113 ], [ 375, 172, 403, 241 ], [ 321, 140, 349, 194 ], [ 288, 193, 358, 243 ], [ 461, 198, 495, 209 ], [ 421, 101, 427, 119 ], [ 368, 138, 385, 151 ], [ 452, 85, 496, 189 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step12/meta/pre_ang90_low.json" }, "topology_clusters": [ { "receptacle": "CounterTop|6|0", "relation": "supports", "room": "room0", "members": [ "ButterKnife|surface|6|19", "Egg|surface|6|20", "Kettle|surface|6|14", "Knife|surface|6|21", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Spatula|surface|6|18", "Spatula|surface|6|17", "Spatula|surface|6|16", "Spoon|surface|6|3", "Statue|surface|6|6", "Tomato|surface|6|4" ], "bounding_boxes": [ [ 549, 30, 554, 31 ], [ 530, 26, 532, 28 ], [ 579, 18, 592, 32 ], [ 505, 32, 505, 32 ], [ 513, 25, 519, 32 ], [ 514, 18, 515, 24 ], [ 623, 32, 630, 32 ], [ 527, 32, 544, 32 ], [ 522, 32, 526, 32 ], [ 520, 31, 525, 32 ], [ 528, 0, 544, 32 ], [ 533, 23, 543, 31 ] ], "distances_to_camera": [ 5.811, 6.21, 7.435, 6.446, 6.93, 7.081, 7.679, 6.083, 6.655, 5.707, 5.746, 5.915 ], "positions_3d": [ [ 1.704, 0.954, 7.484 ], [ 1.244, 0.976, 7.328 ], [ 0.329, 0.943, 8.467 ], [ 0.936, 0.945, 7.048 ], [ 0.483, 0.938, 7.245 ], [ 0.329, 0.938, 7.245 ], [ 0.329, 0.946, 9.078 ], [ 1.397, 0.946, 7.406 ], [ 0.785, 0.946, 7.328 ], [ 1.704, 0.939, 7.095 ], [ 1.704, 0.938, 7.251 ], [ 1.55, 0.99, 7.328 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|3", "Statue|surface|6|6", "ButterKnife|surface|6|19", "Tomato|surface|6|4", "Spatula|surface|6|17", "Egg|surface|6|20", "Knife|surface|6|21", "Spatula|surface|6|16", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Kettle|surface|6|14", "Spatula|surface|6|18" ], "Q2_rel": { "ButterKnife|surface|6|19": [ { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.222 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back-left", "distance_3d": 0.317 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.389 }, { "object": "Egg|surface|6|20", "direction": "back-left", "distance_3d": 0.486 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.883 }, { "object": "Spatula|surface|6|16", "direction": "back-left", "distance_3d": 0.932 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.244 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.396 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.69 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.105 } ], "Egg|surface|6|20": [ { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.46 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.468 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.486 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.517 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.766 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 0.92 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.975 } ], "Kettle|surface|6|14": [ { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 0.611 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.222 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.227 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.232 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.505 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 1.543 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 1.67 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 1.69 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 1.836 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 1.942 } ], "Knife|surface|6|21": [ { "object": "Spatula|surface|6|16", "direction": "back-right", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.494 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.584 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.638 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 0.676 }, { "object": "Spoon|surface|6|3", "direction": "front-right", "distance_3d": 0.769 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 0.794 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.883 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.543 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.119 } ], "Mug|surface|6|28": [ { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.494 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.766 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.928 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.071 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.221 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.23 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.232 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.244 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.839 } ], "SaltShaker|surface|6|22": [ { "object": "Mug|surface|6|28", "direction": "front", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.464 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.638 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.92 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.222 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.225 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.375 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.383 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.396 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.833 } ], "Spatula|surface|6|18": [ { "object": "Kettle|surface|6|14", "direction": "front-left", "distance_3d": 0.611 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.808 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.833 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.839 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.975 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.984 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 2.105 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 2.119 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 2.134 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 2.287 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 2.413 } ], "Spatula|surface|6|17": [ { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.177 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.317 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.344 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.437 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.584 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.617 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 0.928 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.505 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.984 } ], "Spatula|surface|6|16": [ { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.46 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.464 }, { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.617 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.766 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.922 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.932 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.948 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.227 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.808 } ], "Spoon|surface|6|3": [ { "object": "Statue|surface|6|6", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back-right", "distance_3d": 0.284 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.389 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.437 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.517 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.769 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.948 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 1.23 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 1.383 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.942 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.413 } ], "Statue|surface|6|6": [ { "object": "Spoon|surface|6|3", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.344 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.468 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.922 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.221 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.375 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.836 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.287 } ], "Tomato|surface|6|4": [ { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.177 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "front", "distance_3d": 0.222 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.284 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.676 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.766 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.071 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.225 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.67 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.134 } ] }, "Q3_type_count": 10, "Q4_count": 12 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 58, 482, 64 ], [ 360, 0, 406, 98 ], [ 288, 0, 328, 86 ], [ 218, 45, 336, 99 ], [ 485, 82, 536, 88 ], [ 424, 43, 431, 65 ], [ 360, 55, 362, 68 ], [ 467, 0, 531, 81 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] } ] }, "place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13": { "status": "post-place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 517, 147, 607, 204 ], [ 222, 91, 264, 160 ], [ 289, 63, 317, 129 ], [ 227, 93, 283, 134 ], [ 282, 193, 305, 219 ], [ 496, 138, 509, 162 ], [ 392, 118, 405, 136 ], [ 395, 141, 406, 168 ], [ 320, 106, 376, 222 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.304, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 562, 31, 727, 54 ], [ 163, 0, 211, 39 ], [ 259, 0, 292, 31 ], [ 203, 0, 247, 32 ], [ 205, 47, 253, 60 ], [ 534, 0, 557, 40 ], [ 389, 7, 408, 29 ], [ 393, 29, 409, 42 ], [ 277, 0, 361, 60 ] ], "distances_to_camera": [ 1.344, 1.462, 1.631, 1.692, 1.039, 1.342, 1.473, 1.304, 0.989 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|6|7", "CellPhone|surface|6|13", "RemoteControl|surface|7|42", "PepperShaker|surface|6|24", "Book|surface|6|5", "Bottle|surface|6|25", "Potato|surface|6|0", "Bottle|surface|6|26", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 300, 59, 381, 100 ], [ 522, 157, 574, 232 ], [ 430, 163, 464, 239 ], [ 454, 210, 553, 286 ], [ 517, 142, 548, 164 ], [ 346, 80, 357, 104 ], [ 370, 144, 387, 163 ], [ 390, 131, 424, 154 ], [ 461, 31, 521, 151 ] ], "distances_to_camera": [ 1.908, 0.933, 0.785, 0.696, 1.345, 1.658, 1.16, 1.285, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "Potato|surface|6|0", "RemoteControl|surface|7|42", "CellPhone|surface|6|13", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|26", "Bowl|surface|6|11", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 277, 0, 354, 4 ], [ 455, 0, 516, 54 ], [ 524, 0, 721, 83 ], [ 332, 0, 344, 5 ], [ 355, 0, 381, 20 ], [ 385, 8, 434, 20 ], [ 512, 0, 530, 18 ] ], "distances_to_camera": [ 1.908, 0.785, 0.696, 1.658, 1.16, 1.285, 1.428 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 7 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 220, 84, 299, 133 ], [ 551, 88, 603, 157 ], [ 501, 128, 547, 205 ], [ 549, 156, 628, 215 ], [ 491, 96, 509, 114 ], [ 293, 103, 307, 129 ], [ 387, 151, 404, 172 ], [ 394, 127, 407, 154 ], [ 432, 5, 478, 116 ] ], "distances_to_camera": [ 1.603, 1.291, 0.979, 1.076, 1.568, 1.395, 1.041, 1.215, 1.535 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "RemoteControl|surface|7|42", "Bottle|surface|6|25", "PepperShaker|surface|6|24", "Statue|surface|6|7", "CellPhone|surface|6|13", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "Potato|surface|6|0" ], "bounding_boxes": [ [ 633, 0, 660, 8 ], [ 573, 0, 629, 25 ], [ 659, 0, 785, 29 ], [ 383, 0, 405, 8 ] ], "distances_to_camera": [ 1.291, 0.979, 1.076, 1.041 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 5.648, 0.814, 5.533 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26", "Potato|surface|6|0", "Bowl|surface|6|11", "Bottle|surface|6|25" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.462 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.677 } ], "Potato|surface|6|0": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.462 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.677 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 183, 156, 290, 233 ], [ 481, 34, 507, 100 ], [ 494, 67, 527, 136 ], [ 520, 77, 568, 123 ], [ 396, 79, 423, 93 ], [ 291, 158, 307, 185 ], [ 409, 145, 429, 163 ], [ 375, 132, 409, 154 ], [ 354, 17, 405, 115 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.317, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 59, 21, 222, 56 ], [ 502, 0, 526, 11 ], [ 528, 0, 562, 20 ], [ 557, 0, 601, 16 ], [ 403, 4, 414, 8 ], [ 229, 0, 256, 36 ], [ 413, 0, 444, 26 ], [ 365, 14, 414, 25 ], [ 341, 0, 407, 14 ] ], "distances_to_camera": [ 1.182, 1.811, 1.5, 1.701, 1.855, 1.132, 1.195, 1.317, 1.702 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "PepperShaker|surface|6|24", "Book|surface|6|5", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Bottle|surface|6|26", "Bowl|surface|6|11", "Statue|surface|6|7", "Bottle|surface|6|25", "CellPhone|surface|6|13" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 299, 210, 394, 257 ], [ 386, 60, 402, 109 ], [ 427, 71, 444, 122 ], [ 412, 83, 450, 110 ], [ 326, 118, 349, 124 ], [ 373, 180, 382, 203 ], [ 414, 140, 430, 153 ], [ 373, 149, 408, 154 ], [ 316, 69, 352, 145 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.653, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 237, 88, 391, 108 ], [ 384, 12, 402, 69 ], [ 431, 8, 451, 71 ], [ 414, 47, 456, 62 ], [ 341, 69, 341, 69 ], [ 363, 54, 375, 88 ], [ 417, 59, 437, 77 ], [ 376, 74, 410, 78 ], [ 299, 0, 343, 76 ] ], "distances_to_camera": [ 1.002, 2.318, 2.122, 2.341, 2.113, 1.211, 1.665, 1.653, 1.894 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "RemoteControl|surface|7|42", "Potato|surface|6|0", "Statue|surface|6|7", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 219, 551, 331 ], [ 293, 29, 320, 96 ], [ 363, 28, 385, 95 ], [ 318, 43, 365, 84 ], [ 253, 129, 289, 149 ], [ 451, 193, 467, 220 ], [ 413, 121, 428, 139 ], [ 372, 141, 409, 164 ], [ 264, 72, 331, 183 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.91, 1.428, 0.861, 1.323, 1.205, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25", "Bowl|surface|6|11" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-right", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 437, 35, 710, 121 ], [ 277, 0, 298, 1 ], [ 359, 0, 379, 1 ], [ 190, 9, 204, 16 ], [ 490, 0, 521, 44 ], [ 418, 0, 440, 10 ], [ 358, 8, 414, 21 ], [ 199, 0, 297, 28 ] ], "distances_to_camera": [ 0.653, 1.781, 1.733, 1.428, 0.861, 1.323, 1.205, 1.222 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|6|5", "PepperShaker|surface|6|24", "RemoteControl|surface|7|42", "Statue|surface|6|7", "Potato|surface|6|0", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Bottle|surface|6|25" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.353 } ], "Bottle|surface|6|25": [ { "object": "Bottle|surface|6|26", "direction": "right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bottle|surface|6|25", "direction": "left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.214 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Potato|surface|6|0", "direction": "front-right", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 1.115 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.694 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "front-right", "distance_3d": 0.709 }, { "object": "Book|surface|6|5", "direction": "front-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 7, "Q4_count": 8 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 493, 84, 583, 138 ], [ 223, 165, 278, 241 ], [ 246, 101, 290, 177 ], [ 173, 149, 259, 214 ], [ 363, 237, 407, 274 ], [ 480, 96, 494, 121 ], [ 370, 120, 390, 138 ], [ 390, 141, 426, 164 ], [ 392, 106, 467, 250 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.171, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang45_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 544, 0, 647, 6 ], [ 90, 0, 174, 49 ], [ 183, 0, 228, 20 ], [ 42, 0, 111, 35 ], [ 326, 42, 415, 68 ], [ 511, 0, 525, 1 ], [ 361, 0, 382, 3 ], [ 384, 1, 441, 12 ], [ 385, 0, 523, 55 ] ], "distances_to_camera": [ 1.634, 0.873, 1.171, 1.113, 0.637, 1.487, 1.292, 1.171, 0.798 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|6|13", "Statue|surface|6|7", "Bottle|surface|6|25", "Bowl|surface|6|11", "Bottle|surface|6|26", "RemoteControl|surface|7|42", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-left", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "front-right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front-left", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "back-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 415, 94, 471, 113 ], [ 375, 172, 403, 241 ], [ 321, 140, 349, 194 ], [ 288, 193, 358, 243 ], [ 461, 198, 495, 209 ], [ 421, 101, 427, 119 ], [ 368, 138, 385, 151 ], [ 391, 148, 426, 153 ], [ 452, 85, 496, 189 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.607, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|42", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action6/place_RemoteControl|surface|7|42_from_ArmChair|7|2|0_to_DiningTable|6|1|0_1771167137665_step13/meta/post_ang90_low.json" }, "topology_clusters": [ { "receptacle": "CounterTop|6|0", "relation": "supports", "room": "room0", "members": [ "ButterKnife|surface|6|19", "Egg|surface|6|20", "Kettle|surface|6|14", "Knife|surface|6|21", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Spatula|surface|6|18", "Spatula|surface|6|17", "Spatula|surface|6|16", "Spoon|surface|6|3", "Statue|surface|6|6", "Tomato|surface|6|4" ], "bounding_boxes": [ [ 549, 30, 554, 31 ], [ 530, 26, 532, 28 ], [ 579, 18, 592, 32 ], [ 505, 32, 505, 32 ], [ 513, 25, 519, 32 ], [ 514, 18, 515, 24 ], [ 623, 32, 630, 32 ], [ 527, 32, 544, 32 ], [ 522, 32, 526, 32 ], [ 520, 31, 525, 32 ], [ 528, 0, 544, 32 ], [ 533, 23, 543, 31 ] ], "distances_to_camera": [ 5.811, 6.21, 7.435, 6.446, 6.93, 7.081, 7.679, 6.083, 6.655, 5.707, 5.746, 5.915 ], "positions_3d": [ [ 1.704, 0.954, 7.484 ], [ 1.244, 0.976, 7.328 ], [ 0.329, 0.943, 8.467 ], [ 0.936, 0.945, 7.048 ], [ 0.483, 0.938, 7.245 ], [ 0.329, 0.938, 7.245 ], [ 0.329, 0.946, 9.078 ], [ 1.397, 0.946, 7.406 ], [ 0.785, 0.946, 7.328 ], [ 1.704, 0.939, 7.095 ], [ 1.704, 0.938, 7.251 ], [ 1.55, 0.99, 7.328 ] ], "qa_pairs": { "Q1_sort": [ "Spoon|surface|6|3", "Statue|surface|6|6", "ButterKnife|surface|6|19", "Tomato|surface|6|4", "Spatula|surface|6|17", "Egg|surface|6|20", "Knife|surface|6|21", "Spatula|surface|6|16", "Mug|surface|6|28", "SaltShaker|surface|6|22", "Kettle|surface|6|14", "Spatula|surface|6|18" ], "Q2_rel": { "ButterKnife|surface|6|19": [ { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.222 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back-left", "distance_3d": 0.317 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.389 }, { "object": "Egg|surface|6|20", "direction": "back-left", "distance_3d": 0.486 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.883 }, { "object": "Spatula|surface|6|16", "direction": "back-left", "distance_3d": 0.932 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.244 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.396 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.69 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.105 } ], "Egg|surface|6|20": [ { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.46 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.468 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.486 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.517 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.766 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 0.92 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.975 } ], "Kettle|surface|6|14": [ { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 0.611 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.222 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.227 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.232 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.461 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.505 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 1.543 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 1.67 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 1.69 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 1.836 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 1.942 } ], "Knife|surface|6|21": [ { "object": "Spatula|surface|6|16", "direction": "back-right", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.494 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.584 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.638 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 0.676 }, { "object": "Spoon|surface|6|3", "direction": "front-right", "distance_3d": 0.769 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 0.794 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.883 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.543 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.119 } ], "Mug|surface|6|28": [ { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.494 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.766 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 0.928 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.071 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.221 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.23 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.232 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.244 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.839 } ], "SaltShaker|surface|6|22": [ { "object": "Mug|surface|6|28", "direction": "front", "distance_3d": 0.154 }, { "object": "Spatula|surface|6|16", "direction": "front", "distance_3d": 0.464 }, { "object": "Knife|surface|6|21", "direction": "front", "distance_3d": 0.638 }, { "object": "Egg|surface|6|20", "direction": "front-right", "distance_3d": 0.92 }, { "object": "Spatula|surface|6|17", "direction": "front-right", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.222 }, { "object": "Tomato|surface|6|4", "direction": "front-right", "distance_3d": 1.225 }, { "object": "Statue|surface|6|6", "direction": "front-right", "distance_3d": 1.375 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 1.383 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 1.396 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.833 } ], "Spatula|surface|6|18": [ { "object": "Kettle|surface|6|14", "direction": "front-left", "distance_3d": 0.611 }, { "object": "Spatula|surface|6|16", "direction": "front-left", "distance_3d": 1.808 }, { "object": "SaltShaker|surface|6|22", "direction": "front-left", "distance_3d": 1.833 }, { "object": "Mug|surface|6|28", "direction": "front-left", "distance_3d": 1.839 }, { "object": "Egg|surface|6|20", "direction": "front-left", "distance_3d": 1.975 }, { "object": "Spatula|surface|6|17", "direction": "front-left", "distance_3d": 1.984 }, { "object": "ButterKnife|surface|6|19", "direction": "front-left", "distance_3d": 2.105 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 2.119 }, { "object": "Tomato|surface|6|4", "direction": "front-left", "distance_3d": 2.134 }, { "object": "Statue|surface|6|6", "direction": "front-left", "distance_3d": 2.287 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 2.413 } ], "Spatula|surface|6|17": [ { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.174 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.177 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.317 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.344 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.437 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.584 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.617 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 0.928 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.08 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.505 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.984 } ], "Spatula|surface|6|16": [ { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 0.313 }, { "object": "Knife|surface|6|21", "direction": "front-left", "distance_3d": 0.318 }, { "object": "Egg|surface|6|20", "direction": "front", "distance_3d": 0.46 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 0.464 }, { "object": "Spatula|surface|6|17", "direction": "front", "distance_3d": 0.617 }, { "object": "Tomato|surface|6|4", "direction": "front", "distance_3d": 0.766 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.922 }, { "object": "ButterKnife|surface|6|19", "direction": "front-right", "distance_3d": 0.932 }, { "object": "Spoon|surface|6|3", "direction": "front", "distance_3d": 0.948 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.227 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 1.808 } ], "Spoon|surface|6|3": [ { "object": "Statue|surface|6|6", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back-right", "distance_3d": 0.284 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.389 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.437 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.517 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.769 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.948 }, { "object": "Mug|surface|6|28", "direction": "back", "distance_3d": 1.23 }, { "object": "SaltShaker|surface|6|22", "direction": "back", "distance_3d": 1.383 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.942 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.413 } ], "Statue|surface|6|6": [ { "object": "Spoon|surface|6|3", "direction": "overlapping/extremely close", "distance_3d": 0.156 }, { "object": "Tomato|surface|6|4", "direction": "back", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "back-right", "distance_3d": 0.234 }, { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.344 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.468 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.922 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.221 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.375 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.836 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.287 } ], "Tomato|surface|6|4": [ { "object": "Spatula|surface|6|17", "direction": "back", "distance_3d": 0.177 }, { "object": "Statue|surface|6|6", "direction": "front", "distance_3d": 0.18 }, { "object": "ButterKnife|surface|6|19", "direction": "front", "distance_3d": 0.222 }, { "object": "Spoon|surface|6|3", "direction": "front-left", "distance_3d": 0.284 }, { "object": "Egg|surface|6|20", "direction": "back", "distance_3d": 0.306 }, { "object": "Knife|surface|6|21", "direction": "back-left", "distance_3d": 0.676 }, { "object": "Spatula|surface|6|16", "direction": "back", "distance_3d": 0.766 }, { "object": "Mug|surface|6|28", "direction": "back-left", "distance_3d": 1.071 }, { "object": "SaltShaker|surface|6|22", "direction": "back-left", "distance_3d": 1.225 }, { "object": "Kettle|surface|6|14", "direction": "back-right", "distance_3d": 1.67 }, { "object": "Spatula|surface|6|18", "direction": "back-right", "distance_3d": 2.134 } ] }, "Q3_type_count": 10, "Q4_count": 12 } }, { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|6|5", "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "PepperShaker|surface|6|24", "Potato|surface|6|0", "RemoteControl|surface|7|42", "Statue|surface|6|7" ], "bounding_boxes": [ [ 417, 58, 482, 64 ], [ 360, 0, 406, 98 ], [ 288, 0, 328, 86 ], [ 218, 45, 336, 99 ], [ 485, 82, 536, 88 ], [ 424, 43, 431, 65 ], [ 360, 55, 362, 68 ], [ 405, 68, 434, 73 ], [ 467, 0, 531, 81 ] ], "distances_to_camera": [ 2.275, 0.949, 1.213, 1.004, 1.197, 2.049, 1.619, 1.607, 1.413 ], "positions_3d": [ [ 4.983, 0.782, 5.902 ], [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.205, 0.781, 5.779 ], [ 5.648, 0.814, 5.533 ], [ 5.648, 0.781, 5.705 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|25", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Bottle|surface|6|26", "Statue|surface|6|7", "RemoteControl|surface|7|42", "Potato|surface|6|0", "PepperShaker|surface|6|24", "Book|surface|6|5" ], "Q2_rel": { "Book|surface|6|5": [ { "object": "PepperShaker|surface|6|24", "direction": "front-left", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front-left", "distance_3d": 0.694 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.761 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.896 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 1.116 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 1.214 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.353 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.418 } ], "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "back-left", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "back-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.577 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.667 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.677 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.115 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.353 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.331 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.462 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.961 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.214 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "back-right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-right", "distance_3d": 0.677 }, { "object": "RemoteControl|surface|7|42", "direction": "back-right", "distance_3d": 0.728 }, { "object": "Statue|surface|6|7", "direction": "back-right", "distance_3d": 0.76 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 1.168 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 1.418 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "back", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.431 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.655 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.664 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.921 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 1.116 } ], "PepperShaker|surface|6|24": [ { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.254 }, { "object": "RemoteControl|surface|7|42", "direction": "front", "distance_3d": 0.449 }, { "object": "Potato|surface|6|0", "direction": "front-left", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.709 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.921 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.961 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 1.115 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 1.168 } ], "Potato|surface|6|0": [ { "object": "RemoteControl|surface|7|42", "direction": "right", "distance_3d": 0.175 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.462 }, { "object": "PepperShaker|surface|6|24", "direction": "back-right", "distance_3d": 0.508 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.542 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.664 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.677 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.677 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.761 } ], "RemoteControl|surface|7|42": [ { "object": "Potato|surface|6|0", "direction": "left", "distance_3d": 0.175 }, { "object": "Statue|surface|6|7", "direction": "front-right", "distance_3d": 0.39 }, { "object": "PepperShaker|surface|6|24", "direction": "back", "distance_3d": 0.449 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.534 }, { "object": "CellPhone|surface|6|13", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.667 }, { "object": "Book|surface|6|5", "direction": "back-right", "distance_3d": 0.694 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.728 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "front", "distance_3d": 0.222 }, { "object": "RemoteControl|surface|7|42", "direction": "back-left", "distance_3d": 0.39 }, { "object": "Potato|surface|6|0", "direction": "back-left", "distance_3d": 0.542 }, { "object": "Bottle|surface|6|25", "direction": "front-left", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.656 }, { "object": "PepperShaker|surface|6|24", "direction": "back-left", "distance_3d": 0.709 }, { "object": "Bowl|surface|6|11", "direction": "front-left", "distance_3d": 0.76 }, { "object": "Book|surface|6|5", "direction": "back-left", "distance_3d": 0.896 } ] }, "Q3_type_count": 8, "Q4_count": 9 } } ] } ] } } }, "action7": { "steps": { "place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14": { "status": "pre-place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang0_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 199, 83, 293, 143 ], [ 146, 141, 267, 224 ], [ 577, 128, 657, 234 ] ], "distances_to_camera": [ 1.73, 1.278, 1.419 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang0_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 183, 0, 263, 36 ], [ 0, 0, 200, 64 ], [ 637, 19, 799, 71 ] ], "distances_to_camera": [ 1.73, 1.278, 1.419 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 166, 150, 279, 226 ], [ 226, 206, 357, 309 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.324, 0.811, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 38, 23, 203, 75 ], [ 56, 26, 327, 122 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.324, 0.811, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 439, 83, 505, 122 ], [ 363, 76, 426, 112 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 2.273, 2.379, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 444, 47, 520, 74 ], [ 359, 47, 429, 72 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 2.273, 2.379, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 439, 83, 505, 122 ], [ 363, 76, 426, 112 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 2.273, 2.379, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 444, 47, 520, 74 ], [ 359, 47, 429, 72 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 2.273, 2.379, 0.905 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang270_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 404, 71, 470, 110 ], [ 323, 72, 389, 111 ], [ 263, 260, 455, 319 ] ], "distances_to_camera": [ 2.285, 2.276, 0.671 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang270_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 405, 36, 480, 63 ], [ 313, 36, 388, 63 ], [ 139, 94, 503, 139 ] ], "distances_to_camera": [ 2.285, 2.276, 0.671 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang315_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 280, 53, 359, 103 ], [ 193, 87, 288, 148 ], [ 514, 204, 613, 342 ] ], "distances_to_camera": [ 1.997, 1.7, 0.894 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang315_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 255, 0, 351, 26 ], [ 120, 0, 256, 38 ], [ 640, 39, 799, 146 ] ], "distances_to_camera": [ 1.997, 1.7, 0.894 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 166, 150, 279, 226 ], [ 226, 206, 357, 309 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.324, 0.811, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang45_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 38, 23, 203, 75 ], [ 56, 26, 327, 122 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.324, 0.811, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 166, 150, 279, 226 ], [ 226, 206, 357, 309 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.324, 0.811, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step14/meta/pre_ang90_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 38, 23, 203, 75 ], [ 56, 26, 327, 122 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.324, 0.811, 2.052 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 3 } } ] } ] }, "place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15": { "status": "post-place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 392, 154, 409, 155 ], [ 199, 83, 293, 143 ], [ 146, 141, 267, 224 ], [ 577, 128, 657, 234 ] ], "distances_to_camera": [ 1.3, 1.73, 1.278, 1.419 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pencil|surface|7|43", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 389, 40, 413, 41 ], [ 183, 0, 263, 36 ], [ 0, 0, 200, 64 ], [ 637, 19, 799, 71 ] ], "distances_to_camera": [ 1.3, 1.73, 1.278, 1.419 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pencil|surface|7|43", "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 393, 153, 404, 159 ], [ 166, 150, 279, 226 ], [ 226, 206, 357, 309 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.442, 1.324, 0.811, 2.052 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "Pencil|surface|7|43", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 391, 61, 407, 64 ], [ 38, 23, 203, 75 ], [ 56, 26, 327, 122 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.442, 1.324, 0.811, 2.052 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "Pencil|surface|7|43", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 398, 156, 403, 163 ], [ 439, 83, 505, 122 ], [ 363, 76, 426, 112 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 1.586, 2.273, 2.379, 0.905 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 398, 81, 404, 84 ], [ 444, 47, 520, 74 ], [ 359, 47, 429, 72 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 1.586, 2.273, 2.379, 0.905 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 398, 156, 403, 163 ], [ 439, 83, 505, 122 ], [ 363, 76, 426, 112 ], [ 210, 229, 374, 282 ] ], "distances_to_camera": [ 1.586, 2.273, 2.379, 0.905 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 95, 3, 98 ], [ 0, 109, 50, 131 ] ], "distances_to_camera": [ 3.957, 3.271 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 398, 81, 404, 84 ], [ 444, 47, 520, 74 ], [ 359, 47, 429, 72 ], [ 91, 98, 356, 122 ] ], "distances_to_camera": [ 1.586, 2.273, 2.379, 0.905 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57" ], "bounding_boxes": [ [ 0, 73, 5, 78 ] ], "distances_to_camera": [ 3.271 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57" ], "Q2_rel": { "Book|surface|2|57": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 400, 154, 401, 162 ], [ 404, 71, 470, 110 ], [ 323, 72, 389, 111 ], [ 263, 260, 455, 319 ] ], "distances_to_camera": [ 1.519, 2.285, 2.276, 0.671 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pencil|surface|7|43", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 401, 73, 402, 76 ], [ 405, 36, 480, 63 ], [ 313, 36, 388, 63 ], [ 139, 94, 503, 139 ] ], "distances_to_camera": [ 1.519, 2.285, 2.276, 0.671 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pencil|surface|7|43", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-left", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-right", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 394, 152, 408, 158 ], [ 280, 53, 359, 103 ], [ 193, 87, 288, 148 ], [ 514, 204, 613, 342 ] ], "distances_to_camera": [ 1.299, 1.997, 1.7, 0.894 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pencil|surface|7|43", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 392, 39, 413, 43 ], [ 255, 0, 351, 26 ], [ 120, 0, 256, 38 ], [ 640, 39, 799, 146 ] ], "distances_to_camera": [ 1.299, 1.997, 1.7, 0.894 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pencil|surface|7|43", "Pillow|2|0|2", "Pillow|2|0|1" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "back-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 393, 153, 404, 159 ], [ 166, 150, 279, 226 ], [ 226, 206, 357, 309 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.442, 1.324, 0.811, 2.052 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "Pencil|surface|7|43", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang45_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 391, 61, 407, 64 ], [ 38, 23, 203, 75 ], [ 56, 26, 327, 122 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.442, 1.324, 0.811, 2.052 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "Pencil|surface|7|43", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 393, 153, 404, 159 ], [ 166, 150, 279, 226 ], [ 226, 206, 357, 309 ], [ 480, 88, 580, 134 ] ], "distances_to_camera": [ 1.442, 1.324, 0.811, 2.052 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "Pencil|surface|7|43", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action7/place_Pencil|surface|7|43_from_Box|7|5_to_Bed|2|0|0_1771167147736_step15/meta/post_ang90_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pencil|surface|7|43", "Pillow|2|0|1", "Pillow|2|0|2", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 391, 61, 407, 64 ], [ 38, 23, 203, 75 ], [ 56, 26, 327, 122 ], [ 493, 38, 623, 57 ] ], "distances_to_camera": [ 1.442, 1.324, 0.811, 2.052 ], "positions_3d": [ [ 10.263, 0.774, 0.707 ], [ 11.013, 0.828, 0.449 ], [ 11.013, 0.828, 0.978 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2", "Pillow|2|0|1", "Pencil|surface|7|43", "TennisRacket|surface|2|69" ], "Q2_rel": { "Pencil|surface|7|43": [ { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 0.795 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 0.877 } ], "Pillow|2|0|1": [ { "object": "Pillow|2|0|2", "direction": "front-right", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.795 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.666 } ], "Pillow|2|0|2": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 0.529 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.799 }, { "object": "TennisRacket|surface|2|69", "direction": "back-right", "distance_3d": 1.616 } ], "TennisRacket|surface|2|69": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.877 }, { "object": "Pillow|2|0|2", "direction": "front-left", "distance_3d": 1.616 }, { "object": "Pillow|2|0|1", "direction": "front-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 3, "Q4_count": 4 } } ] } ] } } }, "action8": { "steps": { "place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16": { "status": "pre-place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 446, 123, 468, 135 ], [ 339, 0, 466, 124 ], [ 396, 131, 446, 155 ], [ 385, 107, 450, 240 ], [ 381, 154, 411, 186 ] ], "distances_to_camera": [ 1.292, 1.088, 1.288, 1.382, 1.141, 0.75, 0.94 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "CreditCard|surface|7|0", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.202 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.218 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "bounding_boxes": [ [ 97, 0, 106, 1 ], [ 87, 0, 96, 0 ] ], "distances_to_camera": [ 6.077, 6.236 ], "positions_3d": [ [ 0.296, 0.626, 3.683 ], [ 0.122, 0.627, 3.619 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ], "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 430, 105, 449, 112 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 480, 81, 551, 212 ], [ 433, 145, 473, 179 ] ], "distances_to_camera": [ 0.995, 0.938, 1.333, 1.252, 1.133, 0.877, 0.937 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.202 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 392, 93, 413, 104 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 501, 23, 578, 156 ], [ 464, 116, 498, 149 ] ], "distances_to_camera": [ 0.792, 0.944, 1.347, 1.115, 1.176, 1.181, 1.092 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "Tomato|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.202 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 441, 156, 455, 171 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 243, 84, 321, 217 ], [ 314, 137, 350, 172 ] ], "distances_to_camera": [ 1.385, 1.143, 0.952, 1.223, 0.98, 0.836, 0.952 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "CreditCard|surface|7|0", "Tomato|surface|7|0", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.427 } ], "CreditCard|surface|7|0": [ { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.202 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "back", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "right", "distance_3d": 0.218 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.452 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step16/meta/pre_ang90_low.json" }, "topology_clusters": [] } ] }, "place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17": { "status": "post-place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang0_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang0_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|25", "Bottle|surface|6|26", "Bowl|surface|6|11", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "bounding_boxes": [ [ 765, 4, 799, 40 ], [ 703, 0, 755, 57 ], [ 738, 34, 798, 72 ], [ 742, 23, 747, 30 ], [ 687, 0, 723, 25 ] ], "distances_to_camera": [ 3.159, 2.916, 2.913, 3.531, 3.548 ], "positions_3d": [ [ 6.313, 0.781, 5.656 ], [ 6.092, 0.781, 5.409 ], [ 6.313, 0.781, 5.409 ], [ 6.092, 0.782, 6.026 ], [ 5.87, 0.78, 6.026 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|6|11", "Bottle|surface|6|26", "Bottle|surface|6|25", "CellPhone|surface|6|13", "Statue|surface|6|7" ], "Q2_rel": { "Bottle|surface|6|25": [ { "object": "Bowl|surface|6|11", "direction": "front", "distance_3d": 0.247 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.431 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.577 } ], "Bottle|surface|6|26": [ { "object": "Bowl|surface|6|11", "direction": "right", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back-right", "distance_3d": 0.331 }, { "object": "CellPhone|surface|6|13", "direction": "back-right", "distance_3d": 0.617 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.656 } ], "Bowl|surface|6|11": [ { "object": "Bottle|surface|6|26", "direction": "left", "distance_3d": 0.221 }, { "object": "Bottle|surface|6|25", "direction": "back", "distance_3d": 0.247 }, { "object": "CellPhone|surface|6|13", "direction": "back-left", "distance_3d": 0.655 }, { "object": "Statue|surface|6|7", "direction": "back-left", "distance_3d": 0.76 } ], "CellPhone|surface|6|13": [ { "object": "Statue|surface|6|7", "direction": "left", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.431 }, { "object": "Bottle|surface|6|26", "direction": "front-left", "distance_3d": 0.617 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.655 } ], "Statue|surface|6|7": [ { "object": "CellPhone|surface|6|13", "direction": "right", "distance_3d": 0.222 }, { "object": "Bottle|surface|6|25", "direction": "front-right", "distance_3d": 0.577 }, { "object": "Bottle|surface|6|26", "direction": "front-right", "distance_3d": 0.656 }, { "object": "Bowl|surface|6|11", "direction": "front-right", "distance_3d": 0.76 } ] }, "Q3_type_count": 4, "Q4_count": 5 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 294, 104, 343, 137 ], [ 344, 145, 381, 168 ], [ 446, 123, 468, 135 ], [ 339, 0, 466, 124 ], [ 396, 131, 446, 155 ], [ 466, 148, 482, 157 ], [ 385, 107, 450, 240 ], [ 381, 154, 411, 186 ] ], "distances_to_camera": [ 1.292, 1.088, 1.288, 1.382, 1.141, 1.142, 0.75, 0.94 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Newspaper|surface|7|35", "Pencil|surface|7|43", "CreditCard|surface|7|0", "Bowl|surface|7|49", "HousePlant|surface|7|31" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 8, "Q4_count": 8 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "bounding_boxes": [ [ 299, 88, 327, 100 ], [ 332, 78, 340, 84 ] ], "distances_to_camera": [ 2.013, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|6|1|0", "relation": "supports", "room": "room0", "members": [ "Bottle|surface|6|26" ], "bounding_boxes": [ [ 753, 0, 771, 0 ] ], "distances_to_camera": [ 2.916 ], "positions_3d": [ [ 6.092, 0.781, 5.409 ] ], "qa_pairs": { "Q1_sort": [ "Bottle|surface|6|26" ], "Q2_rel": { "Bottle|surface|6|26": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 423, 0, 453, 1 ] ], "distances_to_camera": [ 0.75 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Desk|7|3___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "bounding_boxes": [ [ 97, 0, 106, 1 ], [ 87, 0, 96, 0 ] ], "distances_to_camera": [ 6.077, 6.236 ], "positions_3d": [ [ 0.296, 0.626, 3.683 ], [ 0.122, 0.627, 3.619 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|7|41", "CellPhone|surface|7|40" ], "Q2_rel": { "CellPhone|surface|7|41": [ { "object": "CellPhone|surface|7|40", "direction": "back", "distance_3d": 0.185 } ], "CellPhone|surface|7|40": [ { "object": "CellPhone|surface|7|41", "direction": "front", "distance_3d": 0.185 } ] }, "Q3_type_count": 1, "Q4_count": 2 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 276, 30, 300, 39 ], [ 297, 20, 330, 40 ], [ 320, 23, 330, 29 ] ], "distances_to_camera": [ 2.013, 1.9, 2.159 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 294, 133, 351, 173 ], [ 384, 156, 406, 183 ], [ 430, 105, 449, 112 ], [ 286, 0, 457, 131 ], [ 423, 117, 442, 157 ], [ 465, 120, 485, 123 ], [ 480, 81, 551, 212 ], [ 433, 145, 473, 179 ] ], "distances_to_camera": [ 0.995, 0.938, 1.333, 1.252, 1.133, 1.268, 0.877, 0.937 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33", "Tomato|surface|7|0", "CellPhone|surface|7|39", "Bowl|surface|7|49", "Newspaper|surface|7|35", "HousePlant|surface|7|31", "Pencil|surface|7|43", "CreditCard|surface|7|0" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 8, "Q4_count": 8 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 216, 127, 243, 155 ], [ 239, 128, 268, 150 ], [ 227, 114, 242, 121 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 139, 30, 179, 48 ], [ 175, 16, 216, 44 ], [ 173, 21, 186, 29 ] ], "distances_to_camera": [ 1.633, 1.558, 1.818 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-right", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "back-left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-left", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 345, 157, 406, 204 ], [ 416, 150, 454, 178 ], [ 392, 93, 413, 104 ], [ 265, 0, 451, 148 ], [ 404, 106, 454, 141 ], [ 434, 92, 449, 99 ], [ 501, 23, 578, 156 ], [ 464, 116, 498, 149 ] ], "distances_to_camera": [ 0.792, 0.944, 1.347, 1.115, 1.176, 1.383, 1.181, 1.092 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "Tomato|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Statue|surface|7|33", "CreditCard|surface|7|0", "Pencil|surface|7|43" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "back", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "back", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "front-right", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "back-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "right", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "back", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "right", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "front", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "front-right", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "front-right", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "front-left", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "back-right", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "back-left", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "back-left", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "left", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "front-left", "distance_3d": 0.452 } ] }, "Q3_type_count": 8, "Q4_count": 8 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 178, 219, 211, 261 ], [ 205, 205, 247, 236 ], [ 155, 207, 177, 219 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front-right", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "RemoteControl|surface|7|48", "Vase|surface|7|37", "Watch|surface|7|50" ], "bounding_boxes": [ [ 9, 74, 51, 115 ], [ 58, 46, 141, 90 ], [ 0, 62, 32, 80 ] ], "distances_to_camera": [ 1.104, 1.089, 1.301 ], "positions_3d": [ [ 4.556, 0.67, 3.562 ], [ 4.692, 0.67, 3.562 ], [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|7|37", "RemoteControl|surface|7|48", "Watch|surface|7|50" ], "Q2_rel": { "RemoteControl|surface|7|48": [ { "object": "Vase|surface|7|37", "direction": "right", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back", "distance_3d": 0.201 } ], "Vase|surface|7|37": [ { "object": "RemoteControl|surface|7|48", "direction": "left", "distance_3d": 0.136 }, { "object": "Watch|surface|7|50", "direction": "back-left", "distance_3d": 0.267 } ], "Watch|surface|7|50": [ { "object": "RemoteControl|surface|7|48", "direction": "front", "distance_3d": 0.201 }, { "object": "Vase|surface|7|37", "direction": "front-right", "distance_3d": 0.267 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang270_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang270_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang315_high.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang315_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Statue|surface|7|33" ], "bounding_boxes": [ [ 235, 32, 296, 155 ] ], "distances_to_camera": [ 1.261 ], "positions_3d": [ [ 5.778, 0.864, 3.082 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|7|33" ], "Q2_rel": { "Statue|surface|7|33": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang45_low.json" }, "topology_clusters": [] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|7|1", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|7|49", "CellPhone|surface|7|39", "CreditCard|surface|7|0", "HousePlant|surface|7|31", "Newspaper|surface|7|35", "Pencil|surface|7|43", "Statue|surface|7|33", "Tomato|surface|7|0" ], "bounding_boxes": [ [ 330, 67, 378, 101 ], [ 326, 124, 363, 138 ], [ 441, 156, 455, 171 ], [ 371, 0, 485, 129 ], [ 360, 147, 425, 165 ], [ 422, 182, 424, 200 ], [ 243, 84, 321, 217 ], [ 314, 137, 350, 172 ] ], "distances_to_camera": [ 1.385, 1.143, 0.952, 1.223, 0.98, 0.798, 0.836, 0.952 ], "positions_3d": [ [ 5.153, 0.864, 3.182 ], [ 5.403, 0.861, 3.182 ], [ 5.553, 0.863, 3.582 ], [ 5.278, 0.861, 3.482 ], [ 5.528, 0.862, 3.382 ], [ 5.703, 0.866, 3.502 ], [ 5.778, 0.864, 3.082 ], [ 5.603, 0.906, 3.182 ] ], "qa_pairs": { "Q1_sort": [ "Pencil|surface|7|43", "Statue|surface|7|33", "CreditCard|surface|7|0", "Tomato|surface|7|0", "Newspaper|surface|7|35", "CellPhone|surface|7|39", "HousePlant|surface|7|31", "Bowl|surface|7|49" ], "Q2_rel": { "Bowl|surface|7|49": [ { "object": "CellPhone|surface|7|39", "direction": "front", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "front-right", "distance_3d": 0.325 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.452 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.566 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.633 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.636 } ], "CellPhone|surface|7|39": [ { "object": "Tomato|surface|7|0", "direction": "front", "distance_3d": 0.205 }, { "object": "Newspaper|surface|7|35", "direction": "front-right", "distance_3d": 0.236 }, { "object": "Bowl|surface|7|49", "direction": "back", "distance_3d": 0.25 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.325 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.388 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.427 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.439 } ], "CreditCard|surface|7|0": [ { "object": "Pencil|surface|7|43", "direction": "front-left", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "left", "distance_3d": 0.202 }, { "object": "HousePlant|surface|7|31", "direction": "back-left", "distance_3d": 0.293 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.405 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.427 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.566 } ], "HousePlant|surface|7|31": [ { "object": "Newspaper|surface|7|35", "direction": "front-left", "distance_3d": 0.269 }, { "object": "CreditCard|surface|7|0", "direction": "front-right", "distance_3d": 0.293 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.325 }, { "object": "CellPhone|surface|7|39", "direction": "front-left", "distance_3d": 0.325 }, { "object": "Pencil|surface|7|43", "direction": "front", "distance_3d": 0.425 }, { "object": "Tomato|surface|7|0", "direction": "front-left", "distance_3d": 0.445 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.64 } ], "Newspaper|surface|7|35": [ { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.202 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "left", "distance_3d": 0.218 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.236 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.269 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.391 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.425 } ], "Pencil|surface|7|43": [ { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.17 }, { "object": "Newspaper|surface|7|35", "direction": "back-left", "distance_3d": 0.212 }, { "object": "Tomato|surface|7|0", "direction": "back-left", "distance_3d": 0.338 }, { "object": "HousePlant|surface|7|31", "direction": "back", "distance_3d": 0.425 }, { "object": "Statue|surface|7|33", "direction": "left", "distance_3d": 0.427 }, { "object": "CellPhone|surface|7|39", "direction": "back-left", "distance_3d": 0.439 }, { "object": "Bowl|surface|7|49", "direction": "back-left", "distance_3d": 0.636 } ], "Statue|surface|7|33": [ { "object": "Tomato|surface|7|0", "direction": "back-right", "distance_3d": 0.206 }, { "object": "CellPhone|surface|7|39", "direction": "back-right", "distance_3d": 0.388 }, { "object": "Newspaper|surface|7|35", "direction": "back-right", "distance_3d": 0.391 }, { "object": "Pencil|surface|7|43", "direction": "right", "distance_3d": 0.427 }, { "object": "CreditCard|surface|7|0", "direction": "back-right", "distance_3d": 0.548 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.633 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.64 } ], "Tomato|surface|7|0": [ { "object": "CellPhone|surface|7|39", "direction": "back", "distance_3d": 0.205 }, { "object": "Statue|surface|7|33", "direction": "front-left", "distance_3d": 0.206 }, { "object": "Newspaper|surface|7|35", "direction": "right", "distance_3d": 0.218 }, { "object": "Pencil|surface|7|43", "direction": "front-right", "distance_3d": 0.338 }, { "object": "CreditCard|surface|7|0", "direction": "right", "distance_3d": 0.405 }, { "object": "HousePlant|surface|7|31", "direction": "back-right", "distance_3d": 0.445 }, { "object": "Bowl|surface|7|49", "direction": "back-right", "distance_3d": 0.452 } ] }, "Q3_type_count": 8, "Q4_count": 8 } }, { "receptacle": "SideTable|7|4", "relation": "supports", "room": "room0", "members": [ "Watch|surface|7|50" ], "bounding_boxes": [ [ 476, 68, 480, 69 ] ], "distances_to_camera": [ 2.019 ], "positions_3d": [ [ 4.51, 0.671, 3.758 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|7|50" ], "Q2_rel": { "Watch|surface|7|50": [] }, "Q3_type_count": 1, "Q4_count": 1 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action8/place_Pencil|surface|7|43_from_Bed|2|0|0_to_DiningTable|7|1_1771167157179_step17/meta/post_ang90_low.json" }, "topology_clusters": [] } ] } } }, "action9": { "steps": { "place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18": { "status": "pre-place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655", "frames": [ { "snapshot_label": "pre_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang0_high.json" }, "topology_clusters": [ { "receptacle": "Chair|2|3|1", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 512, 225, 527, 238 ] ], "distances_to_camera": [ 1.432 ], "positions_3d": [ [ 9.457, 0.393, 4.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58" ], "Q2_rel": { "CellPhone|surface|2|58": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 750, 120, 799, 171 ], [ 653, 22, 719, 105 ], [ 743, 181, 756, 192 ] ], "distances_to_camera": [ 2.522, 2.971, 2.271 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56", "BasketBall|surface|2|59", "Statue|surface|2|68" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front-left", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "front-right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back-right", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 337, 103, 362, 164 ], [ 382, 94, 391, 99 ], [ 364, 58, 473, 145 ], [ 390, 155, 455, 211 ], [ 427, 259, 479, 262 ], [ 287, 27, 352, 219 ] ], "distances_to_camera": [ 1.399, 2.014, 1.577, 1.155, 0.746, 0.974 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Pen|surface|2|67", "Statue|surface|2|71", "Laptop|surface|2|54", "AlarmClock|surface|2|70", "Box|surface|2|62", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|60", "Bowl|surface|2|55", "CellPhone|surface|2|64" ], "bounding_boxes": [ [ 671, 171, 682, 186 ], [ 715, 231, 722, 240 ], [ 632, 144, 656, 151 ] ], "distances_to_camera": [ 2.923, 2.488, 3.086 ], "positions_3d": [ [ 7.973, 0.233, 3.253 ], [ 8.065, 0.235, 3.834 ], [ 8.158, 0.232, 2.866 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|2|55", "Book|surface|2|60", "CellPhone|surface|2|64" ], "Q2_rel": { "Book|surface|2|60": [ { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.588 } ], "Bowl|surface|2|55": [ { "object": "Book|surface|2|60", "direction": "back-left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.972 } ], "CellPhone|surface|2|64": [ { "object": "Book|surface|2|60", "direction": "front-right", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.972 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang0_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 342, 0, 346, 1 ], [ 466, 0, 492, 4 ] ], "distances_to_camera": [ 4.907, 4.423 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 2 } }, { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "Statue|surface|2|68" ], "bounding_boxes": [ [ 689, 0, 749, 64 ] ], "distances_to_camera": [ 2.971 ], "positions_3d": [ [ 8.251, 0.577, 2.87 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|68" ], "Q2_rel": { "Statue|surface|2|68": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 319, 0, 350, 52 ], [ 378, 21, 389, 32 ], [ 389, 0, 459, 45 ], [ 385, 39, 488, 72 ], [ 448, 92, 545, 98 ], [ 252, 0, 324, 74 ] ], "distances_to_camera": [ 1.399, 2.014, 1.577, 1.155, 0.746, 0.974 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Pen|surface|2|67", "Statue|surface|2|71", "Laptop|surface|2|54", "AlarmClock|surface|2|70", "Box|surface|2|62", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|60", "CellPhone|surface|2|64" ], "bounding_boxes": [ [ 722, 138, 787, 152 ], [ 665, 122, 698, 127 ] ], "distances_to_camera": [ 2.923, 3.086 ], "positions_3d": [ [ 7.973, 0.233, 3.253 ], [ 8.158, 0.232, 2.866 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|60", "CellPhone|surface|2|64" ], "Q2_rel": { "Book|surface|2|60": [ { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.429 } ], "CellPhone|surface|2|64": [ { "object": "Book|surface|2|60", "direction": "front-right", "distance_3d": 0.429 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang135_high.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 157, 29, 198, 72 ], [ 3, 36, 93, 128 ], [ 219, 67, 229, 72 ] ], "distances_to_camera": [ 3.012, 2.771, 2.892 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|68", "Watch|surface|2|56", "BasketBall|surface|2|59" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "front-left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "back-right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back-left", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "front-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 417, 125, 463, 191 ], [ 238, 192, 316, 255 ], [ 280, 70, 411, 192 ], [ 392, 100, 458, 152 ], [ 444, 85, 468, 96 ], [ 485, 0, 549, 145 ] ], "distances_to_camera": [ 1.149, 0.981, 1.156, 1.536, 1.937, 1.502 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70", "Box|surface|2|62", "Statue|surface|2|71", "Laptop|surface|2|54", "Pen|surface|2|67" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "Mug|surface|2|61", "relation": "supports", "room": "room0", "members": [ "Dresser|2|1___0" ], "bounding_boxes": [ [ 754, 44, 799, 66 ] ], "distances_to_camera": [ 6.324 ], "positions_3d": [ [ 11.085, 0.089, 9.271 ] ], "qa_pairs": { "Q1_sort": [ "Dresser|2|1___0" ], "Q2_rel": { "Dresser|2|1___0": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|60", "Bowl|surface|2|55", "CellPhone|surface|2|64", "CreditCard|surface|2|72" ], "bounding_boxes": [ [ 146, 125, 177, 144 ], [ 221, 98, 240, 114 ], [ 107, 157, 127, 172 ], [ 220, 105, 221, 106 ] ], "distances_to_camera": [ 3.111, 3.123, 2.923, 3.298 ], "positions_3d": [ [ 7.973, 0.233, 3.253 ], [ 8.065, 0.235, 3.834 ], [ 8.158, 0.232, 2.866 ], [ 7.88, 0.233, 3.834 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|64", "Book|surface|2|60", "Bowl|surface|2|55", "CreditCard|surface|2|72" ], "Q2_rel": { "Book|surface|2|60": [ { "object": "CellPhone|surface|2|64", "direction": "front-left", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "right", "distance_3d": 0.588 }, { "object": "CreditCard|surface|2|72", "direction": "back-right", "distance_3d": 0.588 } ], "Bowl|surface|2|55": [ { "object": "CreditCard|surface|2|72", "direction": "back", "distance_3d": 0.185 }, { "object": "Book|surface|2|60", "direction": "left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "front-left", "distance_3d": 0.972 } ], "CellPhone|surface|2|64": [ { "object": "Book|surface|2|60", "direction": "back-right", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "back-right", "distance_3d": 0.972 }, { "object": "CreditCard|surface|2|72", "direction": "back-right", "distance_3d": 1.007 } ], "CreditCard|surface|2|72": [ { "object": "Bowl|surface|2|55", "direction": "front", "distance_3d": 0.185 }, { "object": "Book|surface|2|60", "direction": "front-left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "front-left", "distance_3d": 1.007 } ] }, "Q3_type_count": 4, "Q4_count": 4 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "BaseballBat|surface|2|66", "Pencil|surface|2|73", "Television|2|4|1", "TissueBox|surface|2|52", "Vase|surface|2|51", "Watch|surface|2|65" ], "bounding_boxes": [ [ 685, 35, 746, 58 ], [ 741, 53, 747, 58 ], [ 721, 27, 799, 123 ], [ 691, 37, 736, 73 ], [ 774, 95, 799, 142 ], [ 778, 63, 790, 70 ] ], "distances_to_camera": [ 3.465, 3.485, 2.965, 3.128, 2.516, 3.417 ], "positions_3d": [ [ 10.704, 0.7, 6.446 ], [ 10.801, 0.694, 6.473 ], [ 11.017, 1.178, 5.952 ], [ 10.688, 0.69, 6.105 ], [ 11.255, 0.688, 5.494 ], [ 11.028, 0.69, 6.411 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|2|51", "Television|2|4|1", "TissueBox|surface|2|52", "Watch|surface|2|65", "BaseballBat|surface|2|66", "Pencil|surface|2|73" ], "Q2_rel": { "BaseballBat|surface|2|66": [ { "object": "Pencil|surface|2|73", "direction": "right", "distance_3d": 0.101 }, { "object": "Watch|surface|2|65", "direction": "right", "distance_3d": 0.326 }, { "object": "TissueBox|surface|2|52", "direction": "front", "distance_3d": 0.342 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.755 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 1.1 } ], "Pencil|surface|2|73": [ { "object": "BaseballBat|surface|2|66", "direction": "left", "distance_3d": 0.101 }, { "object": "Watch|surface|2|65", "direction": "front-right", "distance_3d": 0.235 }, { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.385 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.743 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 1.079 } ], "Television|2|4|1": [ { "object": "TissueBox|surface|2|52", "direction": "back-left", "distance_3d": 0.608 }, { "object": "Watch|surface|2|65", "direction": "back-right", "distance_3d": 0.67 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 }, { "object": "Pencil|surface|2|73", "direction": "back-left", "distance_3d": 0.743 }, { "object": "BaseballBat|surface|2|66", "direction": "back-left", "distance_3d": 0.755 } ], "TissueBox|surface|2|52": [ { "object": "BaseballBat|surface|2|66", "direction": "back", "distance_3d": 0.342 }, { "object": "Pencil|surface|2|73", "direction": "back-right", "distance_3d": 0.385 }, { "object": "Watch|surface|2|65", "direction": "back-right", "distance_3d": 0.457 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.834 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 }, { "object": "TissueBox|surface|2|52", "direction": "back-left", "distance_3d": 0.834 }, { "object": "Watch|surface|2|65", "direction": "back", "distance_3d": 0.945 }, { "object": "Pencil|surface|2|73", "direction": "back-left", "distance_3d": 1.079 }, { "object": "BaseballBat|surface|2|66", "direction": "back-left", "distance_3d": 1.1 } ], "Watch|surface|2|65": [ { "object": "Pencil|surface|2|73", "direction": "back-left", "distance_3d": 0.235 }, { "object": "BaseballBat|surface|2|66", "direction": "left", "distance_3d": 0.326 }, { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.457 }, { "object": "Television|2|4|1", "direction": "front-left", "distance_3d": 0.67 }, { "object": "Vase|surface|2|51", "direction": "front", "distance_3d": 0.945 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "pre_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang135_low.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 127, 0, 176, 41 ], [ 0, 30, 29, 66 ], [ 197, 36, 209, 39 ] ], "distances_to_camera": [ 3.012, 2.771, 2.892 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|68", "Watch|surface|2|56", "BasketBall|surface|2|59" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "front-left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "back-right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back-left", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "front-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 425, 0, 486, 53 ], [ 129, 43, 258, 88 ], [ 265, 0, 388, 54 ], [ 388, 12, 435, 38 ], [ 481, 18, 485, 19 ], [ 515, 0, 564, 35 ] ], "distances_to_camera": [ 1.149, 0.981, 1.156, 1.536, 1.937, 1.502 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "AlarmClock|surface|2|70", "Box|surface|2|62", "Statue|surface|2|71", "Laptop|surface|2|54", "Pen|surface|2|67" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|64" ], "bounding_boxes": [ [ 50, 126, 72, 138 ] ], "distances_to_camera": [ 2.923 ], "positions_3d": [ [ 8.158, 0.232, 2.866 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|64" ], "Q2_rel": { "CellPhone|surface|2|64": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "BaseballBat|surface|2|66", "Pencil|surface|2|73", "Television|2|4|1", "TissueBox|surface|2|52" ], "bounding_boxes": [ [ 710, 10, 790, 19 ], [ 784, 19, 785, 20 ], [ 780, 22, 799, 33 ], [ 731, 0, 786, 24 ] ], "distances_to_camera": [ 3.465, 3.485, 2.965, 3.128 ], "positions_3d": [ [ 10.704, 0.7, 6.446 ], [ 10.801, 0.694, 6.473 ], [ 11.017, 1.178, 5.952 ], [ 10.688, 0.69, 6.105 ] ], "qa_pairs": { "Q1_sort": [ "Television|2|4|1", "TissueBox|surface|2|52", "BaseballBat|surface|2|66", "Pencil|surface|2|73" ], "Q2_rel": { "BaseballBat|surface|2|66": [ { "object": "Pencil|surface|2|73", "direction": "right", "distance_3d": 0.101 }, { "object": "TissueBox|surface|2|52", "direction": "front", "distance_3d": 0.342 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.755 } ], "Pencil|surface|2|73": [ { "object": "BaseballBat|surface|2|66", "direction": "left", "distance_3d": 0.101 }, { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.385 }, { "object": "Television|2|4|1", "direction": "front", "distance_3d": 0.743 } ], "Television|2|4|1": [ { "object": "TissueBox|surface|2|52", "direction": "back-left", "distance_3d": 0.608 }, { "object": "Pencil|surface|2|73", "direction": "back", "distance_3d": 0.743 }, { "object": "BaseballBat|surface|2|66", "direction": "back-left", "distance_3d": 0.755 } ], "TissueBox|surface|2|52": [ { "object": "BaseballBat|surface|2|66", "direction": "back", "distance_3d": 0.342 }, { "object": "Pencil|surface|2|73", "direction": "back-right", "distance_3d": 0.385 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.608 } ] }, "Q3_type_count": 4, "Q4_count": 4 } } ] }, { "snapshot_label": "pre_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang180_high.json" }, "topology_clusters": [ { "receptacle": "Chair|2|3|1", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 270, 196, 284, 210 ] ], "distances_to_camera": [ 1.477 ], "positions_3d": [ [ 9.457, 0.393, 4.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58" ], "Q2_rel": { "CellPhone|surface|2|58": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 0, 202, 4, 211 ] ], "distances_to_camera": [ 2.086 ], "positions_3d": [ [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 445, 97, 472, 167 ], [ 371, 257, 454, 314 ], [ 300, 95, 456, 218 ], [ 344, 111, 344, 116 ], [ 333, 76, 368, 78 ], [ 430, 0, 463, 102 ] ], "distances_to_camera": [ 1.188, 0.521, 0.928, 1.367, 1.803, 1.601 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "Box|surface|2|62", "AlarmClock|surface|2|70", "Laptop|surface|2|54", "Statue|surface|2|71", "Pen|surface|2|67" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "front", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|2|55" ], "bounding_boxes": [ [ 38, 252, 46, 264 ] ], "distances_to_camera": [ 2.316 ], "positions_3d": [ [ 8.065, 0.235, 3.834 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|2|55" ], "Q2_rel": { "Bowl|surface|2|55": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "Television|2|4|1", "Vase|surface|2|51" ], "bounding_boxes": [ [ 513, 0, 549, 2 ], [ 550, 0, 572, 12 ] ], "distances_to_camera": [ 3.371, 3.025 ], "positions_3d": [ [ 11.017, 1.178, 5.952 ], [ 11.255, 0.688, 5.494 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|2|51", "Television|2|4|1" ], "Q2_rel": { "Television|2|4|1": [ { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang180_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62" ], "bounding_boxes": [ [ 461, 0, 507, 18 ], [ 328, 55, 538, 125 ], [ 303, 0, 429, 45 ] ], "distances_to_camera": [ 1.188, 0.521, 0.928 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "Box|surface|2|62", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.688 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.474 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang225_high.json" }, "topology_clusters": [ { "receptacle": "Chair|2|3|1", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 270, 244, 308, 276 ] ], "distances_to_camera": [ 1.163 ], "positions_3d": [ [ 9.457, 0.393, 4.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58" ], "Q2_rel": { "CellPhone|surface|2|58": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 419, 80, 460, 107 ], [ 479, 203, 565, 273 ], [ 347, 92, 498, 220 ], [ 303, 111, 375, 174 ], [ 261, 106, 293, 120 ], [ 357, 0, 390, 102 ] ], "distances_to_camera": [ 1.379, 0.862, 1.056, 1.317, 1.652, 1.685 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "AlarmClock|surface|2|70", "Pen|surface|2|67", "Statue|surface|2|71" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "Mug|surface|2|61", "relation": "supports", "room": "room0", "members": [ "Dresser|2|1___0" ], "bounding_boxes": [ [ 176, 0, 201, 5 ] ], "distances_to_camera": [ 6.584 ], "positions_3d": [ [ 11.085, 0.089, 9.271 ] ], "qa_pairs": { "Q1_sort": [ "Dresser|2|1___0" ], "Q2_rel": { "Dresser|2|1___0": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "Television|2|4|1", "TissueBox|surface|2|52", "Vase|surface|2|51" ], "bounding_boxes": [ [ 298, 0, 355, 4 ], [ 258, 0, 275, 3 ], [ 374, 0, 380, 4 ] ], "distances_to_camera": [ 3.451, 3.428, 3.207 ], "positions_3d": [ [ 11.017, 1.178, 5.952 ], [ 10.688, 0.69, 6.105 ], [ 11.255, 0.688, 5.494 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|2|51", "TissueBox|surface|2|52", "Television|2|4|1" ], "Q2_rel": { "Television|2|4|1": [ { "object": "TissueBox|surface|2|52", "direction": "left", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 } ], "TissueBox|surface|2|52": [ { "object": "Television|2|4|1", "direction": "right", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.834 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 }, { "object": "TissueBox|surface|2|52", "direction": "back-left", "distance_3d": 0.834 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang225_low.json" }, "topology_clusters": [ { "receptacle": "Chair|2|3|1", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 199, 171, 263, 204 ] ], "distances_to_camera": [ 1.163 ], "positions_3d": [ [ 9.457, 0.393, 4.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58" ], "Q2_rel": { "CellPhone|surface|2|58": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 546, 33, 706, 91 ], [ 362, 0, 511, 55 ], [ 262, 0, 363, 32 ], [ 210, 4, 260, 10 ], [ 359, 0, 361, 1 ] ], "distances_to_camera": [ 0.862, 1.056, 1.317, 1.652, 1.685 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "Q2_rel": { "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 5, "Q4_count": 5 } } ] }, { "snapshot_label": "pre_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang270_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2" ], "bounding_boxes": [ [ 787, 20, 799, 46 ] ], "distances_to_camera": [ 3.776 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Chair|2|3|1", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 368, 288, 395, 323 ] ], "distances_to_camera": [ 0.871 ], "positions_3d": [ [ 9.457, 0.393, 4.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58" ], "Q2_rel": { "CellPhone|surface|2|58": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 372, 78, 418, 133 ], [ 509, 127, 565, 165 ], [ 400, 80, 517, 181 ], [ 311, 147, 393, 193 ], [ 245, 179, 253, 209 ], [ 258, 0, 320, 136 ] ], "distances_to_camera": [ 1.553, 1.523, 1.352, 1.212, 1.219, 1.576 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Laptop|surface|2|54", "Pen|surface|2|67", "Box|surface|2|62", "Book|surface|2|57", "AlarmClock|surface|2|70", "Statue|surface|2|71" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "Television|2|4|1", "TissueBox|surface|2|52", "Vase|surface|2|51" ], "bounding_boxes": [ [ 0, 0, 126, 103 ], [ 0, 95, 14, 121 ], [ 107, 19, 152, 71 ] ], "distances_to_camera": [ 3.004, 2.869, 2.924 ], "positions_3d": [ [ 11.017, 1.178, 5.952 ], [ 10.688, 0.69, 6.105 ], [ 11.255, 0.688, 5.494 ] ], "qa_pairs": { "Q1_sort": [ "TissueBox|surface|2|52", "Vase|surface|2|51", "Television|2|4|1" ], "Q2_rel": { "Television|2|4|1": [ { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 } ], "TissueBox|surface|2|52": [ { "object": "Television|2|4|1", "direction": "back-right", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "back-right", "distance_3d": 0.834 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 }, { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.834 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "pre_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang270_low.json" }, "topology_clusters": [ { "receptacle": "Chair|2|3|1", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 353, 217, 392, 260 ] ], "distances_to_camera": [ 0.871 ], "positions_3d": [ [ 9.457, 0.393, 4.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58" ], "Q2_rel": { "CellPhone|surface|2|58": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 370, 0, 418, 34 ], [ 544, 25, 636, 46 ], [ 424, 0, 531, 52 ], [ 262, 29, 390, 57 ], [ 151, 49, 182, 63 ], [ 250, 0, 295, 33 ] ], "distances_to_camera": [ 1.553, 1.523, 1.352, 1.212, 1.219, 1.576 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Laptop|surface|2|54", "Pen|surface|2|67", "Box|surface|2|62", "Book|surface|2|57", "AlarmClock|surface|2|70", "Statue|surface|2|71" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "Television|2|4|1", "Vase|surface|2|51" ], "bounding_boxes": [ [ 0, 0, 83, 36 ], [ 76, 0, 118, 27 ] ], "distances_to_camera": [ 3.004, 2.924 ], "positions_3d": [ [ 11.017, 1.178, 5.952 ], [ 11.255, 0.688, 5.494 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|2|51", "Television|2|4|1" ], "Q2_rel": { "Television|2|4|1": [ { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang315_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 731, 0, 775, 10 ] ], "distances_to_camera": [ 3.886 ], "positions_3d": [ [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69" ], "Q2_rel": { "TennisRacket|surface|2|69": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "Chair|2|3|1", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 455, 283, 498, 314 ] ], "distances_to_camera": [ 0.908 ], "positions_3d": [ [ 9.457, 0.393, 4.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58" ], "Q2_rel": { "CellPhone|surface|2|58": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 335, 79, 381, 145 ], [ 491, 91, 518, 114 ], [ 386, 53, 525, 166 ], [ 327, 153, 435, 234 ], [ 296, 259, 332, 292 ], [ 198, 0, 300, 185 ] ], "distances_to_camera": [ 1.359, 1.719, 1.348, 0.961, 0.638, 1.128 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Pen|surface|2|67", "Laptop|surface|2|54", "Statue|surface|2|71", "Box|surface|2|62", "AlarmClock|surface|2|70", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "pre_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang315_low.json" }, "topology_clusters": [ { "receptacle": "Chair|2|3|1", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 490, 209, 564, 248 ] ], "distances_to_camera": [ 0.908 ], "positions_3d": [ [ 9.457, 0.393, 4.026 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58" ], "Q2_rel": { "CellPhone|surface|2|58": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 318, 0, 374, 14 ], [ 523, 0, 552, 5 ], [ 409, 0, 523, 25 ], [ 276, 6, 458, 61 ], [ 193, 75, 251, 104 ], [ 173, 0, 242, 34 ] ], "distances_to_camera": [ 1.359, 1.719, 1.348, 0.961, 0.638, 1.128 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Pen|surface|2|67", "Laptop|surface|2|54", "Statue|surface|2|71", "Box|surface|2|62", "AlarmClock|surface|2|70", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "pre_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang45_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2" ], "bounding_boxes": [ [ 0, 10, 14, 39 ] ], "distances_to_camera": [ 3.773 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 537, 8, 572, 49 ], [ 445, 0, 464, 33 ], [ 555, 60, 565, 65 ] ], "distances_to_camera": [ 3.143, 3.346, 2.914 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56", "BasketBall|surface|2|59", "Statue|surface|2|68" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "front-right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 336, 126, 383, 192 ], [ 279, 87, 338, 121 ], [ 313, 39, 432, 149 ], [ 404, 131, 502, 188 ], [ 542, 184, 564, 207 ], [ 425, 32, 492, 237 ] ], "distances_to_camera": [ 1.124, 1.782, 1.427, 1.244, 1.196, 0.83 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|71", "AlarmClock|surface|2|70", "Pen|surface|2|67", "Laptop|surface|2|54", "Box|surface|2|62", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|60", "Bowl|surface|2|55", "CellPhone|surface|2|64", "CreditCard|surface|2|72" ], "bounding_boxes": [ [ 485, 74, 510, 86 ], [ 545, 91, 563, 107 ], [ 446, 68, 463, 77 ], [ 564, 97, 565, 98 ] ], "distances_to_camera": [ 3.443, 3.146, 3.475, 3.32 ], "positions_3d": [ [ 7.973, 0.233, 3.253 ], [ 8.065, 0.235, 3.834 ], [ 8.158, 0.232, 2.866 ], [ 7.88, 0.233, 3.834 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|2|55", "CreditCard|surface|2|72", "Book|surface|2|60", "CellPhone|surface|2|64" ], "Q2_rel": { "Book|surface|2|60": [ { "object": "CellPhone|surface|2|64", "direction": "left", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.588 }, { "object": "CreditCard|surface|2|72", "direction": "front-right", "distance_3d": 0.588 } ], "Bowl|surface|2|55": [ { "object": "CreditCard|surface|2|72", "direction": "back", "distance_3d": 0.185 }, { "object": "Book|surface|2|60", "direction": "back-left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.972 } ], "CellPhone|surface|2|64": [ { "object": "Book|surface|2|60", "direction": "right", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.972 }, { "object": "CreditCard|surface|2|72", "direction": "front-right", "distance_3d": 1.007 } ], "CreditCard|surface|2|72": [ { "object": "Bowl|surface|2|55", "direction": "front", "distance_3d": 0.185 }, { "object": "Book|surface|2|60", "direction": "back-left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 1.007 } ] }, "Q3_type_count": 4, "Q4_count": 4 } } ] }, { "snapshot_label": "pre_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang45_low.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Watch|surface|2|56" ], "bounding_boxes": [ [ 548, 0, 586, 30 ], [ 573, 30, 584, 33 ] ], "distances_to_camera": [ 3.143, 2.914 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56", "BasketBall|surface|2|59" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front", "distance_3d": 0.294 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back", "distance_3d": 0.294 } ] }, "Q3_type_count": 2, "Q4_count": 2 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 313, 0, 375, 51 ], [ 244, 7, 318, 24 ], [ 365, 0, 420, 34 ], [ 406, 19, 551, 52 ], [ 631, 44, 652, 57 ], [ 444, 0, 527, 73 ] ], "distances_to_camera": [ 1.124, 1.782, 1.427, 1.244, 1.196, 0.83 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|71", "AlarmClock|surface|2|70", "Pen|surface|2|67", "Laptop|surface|2|54", "Box|surface|2|62", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "pre_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang90_high.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 377, 0, 407, 19 ], [ 283, 0, 303, 29 ], [ 410, 25, 419, 30 ] ], "distances_to_camera": [ 3.211, 3.221, 3.021 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56", "BasketBall|surface|2|59", "Statue|surface|2|68" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back-left", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 363, 139, 424, 201 ], [ 223, 125, 283, 167 ], [ 284, 44, 403, 159 ], [ 412, 118, 491, 163 ], [ 541, 121, 542, 126 ], [ 491, 0, 595, 207 ] ], "distances_to_camera": [ 0.977, 1.417, 1.232, 1.316, 1.524, 1.014 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "AlarmClock|surface|2|70", "Statue|surface|2|71", "Box|surface|2|62", "Laptop|surface|2|54", "Book|surface|2|57", "Pen|surface|2|67" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|2|55", "CellPhone|surface|2|64" ], "bounding_boxes": [ [ 408, 56, 421, 71 ], [ 303, 64, 313, 69 ] ], "distances_to_camera": [ 3.258, 3.361 ], "positions_3d": [ [ 8.065, 0.235, 3.834 ], [ 8.158, 0.232, 2.866 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|2|55", "CellPhone|surface|2|64" ], "Q2_rel": { "Bowl|surface|2|55": [ { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.972 } ], "CellPhone|surface|2|64": [ { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.972 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "pre_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/rgb/pre_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/depth/pre_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/semantic/pre_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/instance/pre_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step18/meta/pre_ang90_low.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "Statue|surface|2|68" ], "bounding_boxes": [ [ 276, 0, 277, 1 ] ], "distances_to_camera": [ 3.221 ], "positions_3d": [ [ 8.251, 0.577, 2.87 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|68" ], "Q2_rel": { "Statue|surface|2|68": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Statue|surface|2|71" ], "bounding_boxes": [ [ 355, 0, 426, 145 ], [ 130, 2, 237, 28 ], [ 278, 0, 364, 24 ], [ 417, 0, 538, 26 ], [ 550, 0, 627, 47 ] ], "distances_to_camera": [ 0.977, 1.417, 1.232, 1.316, 1.014 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "AlarmClock|surface|2|70", "Statue|surface|2|71", "Box|surface|2|62", "Laptop|surface|2|54", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 1.108 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.695 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.441 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 5, "Q4_count": 5 } } ] } ] }, "place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19": { "status": "post-place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655", "frames": [ { "snapshot_label": "post_ang0_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang0_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang0_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang0_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang0_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang0_high.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 750, 120, 799, 171 ], [ 653, 22, 719, 105 ], [ 743, 181, 756, 192 ] ], "distances_to_camera": [ 2.522, 2.971, 2.271 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56", "BasketBall|surface|2|59", "Statue|surface|2|68" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front-left", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "front-right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back-right", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 337, 103, 362, 164 ], [ 382, 94, 391, 99 ], [ 364, 58, 473, 145 ], [ 354, 104, 378, 113 ], [ 390, 155, 455, 211 ], [ 427, 259, 479, 262 ], [ 287, 27, 352, 219 ] ], "distances_to_camera": [ 1.399, 2.014, 1.577, 1.822, 1.155, 0.746, 0.974 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Pen|surface|2|67", "Statue|surface|2|71", "Laptop|surface|2|54", "AlarmClock|surface|2|70", "Box|surface|2|62", "CellPhone|surface|2|58", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|60", "Bowl|surface|2|55", "CellPhone|surface|2|64" ], "bounding_boxes": [ [ 671, 171, 682, 186 ], [ 715, 231, 722, 240 ], [ 632, 144, 656, 151 ] ], "distances_to_camera": [ 2.923, 2.488, 3.086 ], "positions_3d": [ [ 7.973, 0.233, 3.253 ], [ 8.065, 0.235, 3.834 ], [ 8.158, 0.232, 2.866 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|2|55", "Book|surface|2|60", "CellPhone|surface|2|64" ], "Q2_rel": { "Book|surface|2|60": [ { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.588 } ], "Bowl|surface|2|55": [ { "object": "Book|surface|2|60", "direction": "back-left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.972 } ], "CellPhone|surface|2|64": [ { "object": "Book|surface|2|60", "direction": "front-right", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.972 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang0_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang0_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang0_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang0_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang0_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang0_low.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|1", "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 342, 0, 346, 1 ], [ 466, 0, 492, 4 ] ], "distances_to_camera": [ 4.907, 4.423 ], "positions_3d": [ [ 11.013, 0.828, 0.449 ], [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69", "Pillow|2|0|1" ], "Q2_rel": { "Pillow|2|0|1": [ { "object": "TennisRacket|surface|2|69", "direction": "front-right", "distance_3d": 1.666 } ], "TennisRacket|surface|2|69": [ { "object": "Pillow|2|0|1", "direction": "back-left", "distance_3d": 1.666 } ] }, "Q3_type_count": 2, "Q4_count": 2 } }, { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "Statue|surface|2|68" ], "bounding_boxes": [ [ 689, 0, 749, 64 ] ], "distances_to_camera": [ 2.971 ], "positions_3d": [ [ 8.251, 0.577, 2.87 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|68" ], "Q2_rel": { "Statue|surface|2|68": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 319, 0, 350, 52 ], [ 378, 21, 389, 32 ], [ 389, 0, 459, 45 ], [ 343, 31, 372, 36 ], [ 385, 39, 488, 72 ], [ 448, 92, 545, 98 ], [ 252, 0, 324, 74 ] ], "distances_to_camera": [ 1.399, 2.014, 1.577, 1.822, 1.155, 0.746, 0.974 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Pen|surface|2|67", "Statue|surface|2|71", "Laptop|surface|2|54", "AlarmClock|surface|2|70", "Box|surface|2|62", "CellPhone|surface|2|58", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|60", "CellPhone|surface|2|64" ], "bounding_boxes": [ [ 722, 138, 787, 152 ], [ 665, 122, 698, 127 ] ], "distances_to_camera": [ 2.923, 3.086 ], "positions_3d": [ [ 7.973, 0.233, 3.253 ], [ 8.158, 0.232, 2.866 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|60", "CellPhone|surface|2|64" ], "Q2_rel": { "Book|surface|2|60": [ { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.429 } ], "CellPhone|surface|2|64": [ { "object": "Book|surface|2|60", "direction": "front-right", "distance_3d": 0.429 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang135_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang135_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang135_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang135_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang135_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang135_high.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 157, 29, 198, 72 ], [ 3, 36, 93, 128 ], [ 219, 67, 229, 72 ] ], "distances_to_camera": [ 3.012, 2.771, 2.892 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|68", "Watch|surface|2|56", "BasketBall|surface|2|59" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "front-left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "back-right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back-left", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "front-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 417, 125, 463, 191 ], [ 238, 192, 316, 255 ], [ 280, 70, 411, 192 ], [ 334, 212, 384, 244 ], [ 392, 100, 458, 152 ], [ 444, 85, 468, 96 ], [ 485, 0, 549, 145 ] ], "distances_to_camera": [ 1.149, 0.981, 1.156, 0.858, 1.536, 1.937, 1.502 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58", "Book|surface|2|57", "AlarmClock|surface|2|70", "Box|surface|2|62", "Statue|surface|2|71", "Laptop|surface|2|54", "Pen|surface|2|67" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "right", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "front", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "Mug|surface|2|61", "relation": "supports", "room": "room0", "members": [ "Dresser|2|1___0" ], "bounding_boxes": [ [ 754, 44, 799, 66 ] ], "distances_to_camera": [ 6.324 ], "positions_3d": [ [ 11.085, 0.089, 9.271 ] ], "qa_pairs": { "Q1_sort": [ "Dresser|2|1___0" ], "Q2_rel": { "Dresser|2|1___0": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|60", "Bowl|surface|2|55", "CellPhone|surface|2|64", "CreditCard|surface|2|72" ], "bounding_boxes": [ [ 146, 125, 177, 144 ], [ 221, 98, 240, 114 ], [ 107, 157, 127, 172 ], [ 220, 105, 221, 106 ] ], "distances_to_camera": [ 3.111, 3.123, 2.923, 3.298 ], "positions_3d": [ [ 7.973, 0.233, 3.253 ], [ 8.065, 0.235, 3.834 ], [ 8.158, 0.232, 2.866 ], [ 7.88, 0.233, 3.834 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|64", "Book|surface|2|60", "Bowl|surface|2|55", "CreditCard|surface|2|72" ], "Q2_rel": { "Book|surface|2|60": [ { "object": "CellPhone|surface|2|64", "direction": "front-left", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "right", "distance_3d": 0.588 }, { "object": "CreditCard|surface|2|72", "direction": "back-right", "distance_3d": 0.588 } ], "Bowl|surface|2|55": [ { "object": "CreditCard|surface|2|72", "direction": "back", "distance_3d": 0.185 }, { "object": "Book|surface|2|60", "direction": "left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "front-left", "distance_3d": 0.972 } ], "CellPhone|surface|2|64": [ { "object": "Book|surface|2|60", "direction": "back-right", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "back-right", "distance_3d": 0.972 }, { "object": "CreditCard|surface|2|72", "direction": "back-right", "distance_3d": 1.007 } ], "CreditCard|surface|2|72": [ { "object": "Bowl|surface|2|55", "direction": "front", "distance_3d": 0.185 }, { "object": "Book|surface|2|60", "direction": "front-left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "front-left", "distance_3d": 1.007 } ] }, "Q3_type_count": 4, "Q4_count": 4 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "BaseballBat|surface|2|66", "Pencil|surface|2|73", "Television|2|4|1", "TissueBox|surface|2|52", "Vase|surface|2|51", "Watch|surface|2|65" ], "bounding_boxes": [ [ 685, 35, 746, 58 ], [ 741, 53, 747, 58 ], [ 721, 27, 799, 123 ], [ 691, 37, 736, 73 ], [ 774, 95, 799, 142 ], [ 778, 63, 790, 70 ] ], "distances_to_camera": [ 3.465, 3.485, 2.965, 3.128, 2.516, 3.417 ], "positions_3d": [ [ 10.704, 0.7, 6.446 ], [ 10.801, 0.694, 6.473 ], [ 11.017, 1.178, 5.952 ], [ 10.688, 0.69, 6.105 ], [ 11.255, 0.688, 5.494 ], [ 11.028, 0.69, 6.411 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|2|51", "Television|2|4|1", "TissueBox|surface|2|52", "Watch|surface|2|65", "BaseballBat|surface|2|66", "Pencil|surface|2|73" ], "Q2_rel": { "BaseballBat|surface|2|66": [ { "object": "Pencil|surface|2|73", "direction": "right", "distance_3d": 0.101 }, { "object": "Watch|surface|2|65", "direction": "right", "distance_3d": 0.326 }, { "object": "TissueBox|surface|2|52", "direction": "front", "distance_3d": 0.342 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.755 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 1.1 } ], "Pencil|surface|2|73": [ { "object": "BaseballBat|surface|2|66", "direction": "left", "distance_3d": 0.101 }, { "object": "Watch|surface|2|65", "direction": "front-right", "distance_3d": 0.235 }, { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.385 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.743 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 1.079 } ], "Television|2|4|1": [ { "object": "TissueBox|surface|2|52", "direction": "back-left", "distance_3d": 0.608 }, { "object": "Watch|surface|2|65", "direction": "back-right", "distance_3d": 0.67 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 }, { "object": "Pencil|surface|2|73", "direction": "back-left", "distance_3d": 0.743 }, { "object": "BaseballBat|surface|2|66", "direction": "back-left", "distance_3d": 0.755 } ], "TissueBox|surface|2|52": [ { "object": "BaseballBat|surface|2|66", "direction": "back", "distance_3d": 0.342 }, { "object": "Pencil|surface|2|73", "direction": "back-right", "distance_3d": 0.385 }, { "object": "Watch|surface|2|65", "direction": "back-right", "distance_3d": 0.457 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.834 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 }, { "object": "TissueBox|surface|2|52", "direction": "back-left", "distance_3d": 0.834 }, { "object": "Watch|surface|2|65", "direction": "back", "distance_3d": 0.945 }, { "object": "Pencil|surface|2|73", "direction": "back-left", "distance_3d": 1.079 }, { "object": "BaseballBat|surface|2|66", "direction": "back-left", "distance_3d": 1.1 } ], "Watch|surface|2|65": [ { "object": "Pencil|surface|2|73", "direction": "back-left", "distance_3d": 0.235 }, { "object": "BaseballBat|surface|2|66", "direction": "left", "distance_3d": 0.326 }, { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.457 }, { "object": "Television|2|4|1", "direction": "front-left", "distance_3d": 0.67 }, { "object": "Vase|surface|2|51", "direction": "front", "distance_3d": 0.945 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "post_ang135_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang135_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang135_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang135_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang135_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang135_low.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 127, 0, 176, 41 ], [ 0, 30, 29, 66 ], [ 197, 36, 209, 39 ] ], "distances_to_camera": [ 3.012, 2.771, 2.892 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|68", "Watch|surface|2|56", "BasketBall|surface|2|59" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "front-left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "back-right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "back-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back-left", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "front-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 425, 0, 486, 53 ], [ 129, 43, 258, 88 ], [ 265, 0, 388, 54 ], [ 289, 60, 373, 81 ], [ 388, 12, 435, 38 ], [ 481, 18, 485, 19 ], [ 515, 0, 564, 35 ] ], "distances_to_camera": [ 1.149, 0.981, 1.156, 0.858, 1.536, 1.937, 1.502 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|58", "Book|surface|2|57", "AlarmClock|surface|2|70", "Box|surface|2|62", "Statue|surface|2|71", "Laptop|surface|2|54", "Pen|surface|2|67" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "right", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "front", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "CellPhone|surface|2|64" ], "bounding_boxes": [ [ 50, 126, 72, 138 ] ], "distances_to_camera": [ 2.923 ], "positions_3d": [ [ 8.158, 0.232, 2.866 ] ], "qa_pairs": { "Q1_sort": [ "CellPhone|surface|2|64" ], "Q2_rel": { "CellPhone|surface|2|64": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "BaseballBat|surface|2|66", "Pencil|surface|2|73", "Television|2|4|1", "TissueBox|surface|2|52" ], "bounding_boxes": [ [ 710, 10, 790, 19 ], [ 784, 19, 785, 20 ], [ 780, 22, 799, 33 ], [ 731, 0, 786, 24 ] ], "distances_to_camera": [ 3.465, 3.485, 2.965, 3.128 ], "positions_3d": [ [ 10.704, 0.7, 6.446 ], [ 10.801, 0.694, 6.473 ], [ 11.017, 1.178, 5.952 ], [ 10.688, 0.69, 6.105 ] ], "qa_pairs": { "Q1_sort": [ "Television|2|4|1", "TissueBox|surface|2|52", "BaseballBat|surface|2|66", "Pencil|surface|2|73" ], "Q2_rel": { "BaseballBat|surface|2|66": [ { "object": "Pencil|surface|2|73", "direction": "right", "distance_3d": 0.101 }, { "object": "TissueBox|surface|2|52", "direction": "front", "distance_3d": 0.342 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.755 } ], "Pencil|surface|2|73": [ { "object": "BaseballBat|surface|2|66", "direction": "left", "distance_3d": 0.101 }, { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.385 }, { "object": "Television|2|4|1", "direction": "front", "distance_3d": 0.743 } ], "Television|2|4|1": [ { "object": "TissueBox|surface|2|52", "direction": "back-left", "distance_3d": 0.608 }, { "object": "Pencil|surface|2|73", "direction": "back", "distance_3d": 0.743 }, { "object": "BaseballBat|surface|2|66", "direction": "back-left", "distance_3d": 0.755 } ], "TissueBox|surface|2|52": [ { "object": "BaseballBat|surface|2|66", "direction": "back", "distance_3d": 0.342 }, { "object": "Pencil|surface|2|73", "direction": "back-right", "distance_3d": 0.385 }, { "object": "Television|2|4|1", "direction": "front-right", "distance_3d": 0.608 } ] }, "Q3_type_count": 4, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang180_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang180_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang180_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang180_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang180_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang180_high.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "Watch|surface|2|56" ], "bounding_boxes": [ [ 0, 202, 4, 211 ] ], "distances_to_camera": [ 2.086 ], "positions_3d": [ [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56" ], "Q2_rel": { "Watch|surface|2|56": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 445, 97, 472, 167 ], [ 371, 257, 454, 314 ], [ 300, 95, 456, 218 ], [ 444, 218, 498, 246 ], [ 344, 111, 344, 116 ], [ 333, 76, 368, 78 ], [ 430, 0, 463, 102 ] ], "distances_to_camera": [ 1.188, 0.521, 0.928, 0.782, 1.367, 1.803, 1.601 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "CellPhone|surface|2|58", "Box|surface|2|62", "AlarmClock|surface|2|70", "Laptop|surface|2|54", "Statue|surface|2|71", "Pen|surface|2|67" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "front", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "back", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "back", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "front", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|2|55" ], "bounding_boxes": [ [ 38, 252, 46, 264 ] ], "distances_to_camera": [ 2.316 ], "positions_3d": [ [ 8.065, 0.235, 3.834 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|2|55" ], "Q2_rel": { "Bowl|surface|2|55": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "Television|2|4|1", "Vase|surface|2|51" ], "bounding_boxes": [ [ 513, 0, 549, 2 ], [ 550, 0, 572, 12 ] ], "distances_to_camera": [ 3.371, 3.025 ], "positions_3d": [ [ 11.017, 1.178, 5.952 ], [ 11.255, 0.688, 5.494 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|2|51", "Television|2|4|1" ], "Q2_rel": { "Television|2|4|1": [ { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang180_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang180_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang180_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang180_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang180_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang180_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58" ], "bounding_boxes": [ [ 461, 0, 507, 18 ], [ 328, 55, 538, 125 ], [ 303, 0, 429, 45 ], [ 481, 41, 588, 63 ] ], "distances_to_camera": [ 1.188, 0.521, 0.928, 0.782 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "CellPhone|surface|2|58", "Box|surface|2|62", "AlarmClock|surface|2|70" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.432 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.688 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.474 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.432 } ] }, "Q3_type_count": 4, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang225_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang225_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang225_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang225_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang225_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang225_high.json" }, "topology_clusters": [ { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 419, 80, 460, 107 ], [ 479, 203, 565, 273 ], [ 347, 92, 498, 220 ], [ 493, 164, 530, 196 ], [ 303, 111, 375, 174 ], [ 261, 106, 293, 120 ], [ 357, 0, 390, 102 ] ], "distances_to_camera": [ 1.379, 0.862, 1.056, 1.149, 1.317, 1.652, 1.685 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "AlarmClock|surface|2|70", "Pen|surface|2|67", "Statue|surface|2|71" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "back", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "front", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "Mug|surface|2|61", "relation": "supports", "room": "room0", "members": [ "Dresser|2|1___0" ], "bounding_boxes": [ [ 176, 0, 201, 5 ] ], "distances_to_camera": [ 6.584 ], "positions_3d": [ [ 11.085, 0.089, 9.271 ] ], "qa_pairs": { "Q1_sort": [ "Dresser|2|1___0" ], "Q2_rel": { "Dresser|2|1___0": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "Television|2|4|1", "TissueBox|surface|2|52", "Vase|surface|2|51" ], "bounding_boxes": [ [ 298, 0, 355, 4 ], [ 258, 0, 275, 3 ], [ 374, 0, 380, 4 ] ], "distances_to_camera": [ 3.451, 3.428, 3.207 ], "positions_3d": [ [ 11.017, 1.178, 5.952 ], [ 10.688, 0.69, 6.105 ], [ 11.255, 0.688, 5.494 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|2|51", "TissueBox|surface|2|52", "Television|2|4|1" ], "Q2_rel": { "Television|2|4|1": [ { "object": "TissueBox|surface|2|52", "direction": "left", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 } ], "TissueBox|surface|2|52": [ { "object": "Television|2|4|1", "direction": "right", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.834 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 }, { "object": "TissueBox|surface|2|52", "direction": "back-left", "distance_3d": 0.834 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang225_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang225_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang225_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang225_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang225_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang225_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 546, 33, 706, 91 ], [ 362, 0, 511, 55 ], [ 548, 25, 601, 42 ], [ 262, 0, 363, 32 ], [ 210, 4, 260, 10 ], [ 359, 0, 361, 1 ] ], "distances_to_camera": [ 0.862, 1.056, 1.149, 1.317, 1.652, 1.685 ], "positions_3d": [ [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "Q2_rel": { "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "post_ang270_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang270_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang270_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang270_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang270_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang270_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2" ], "bounding_boxes": [ [ 787, 20, 799, 46 ] ], "distances_to_camera": [ 3.776 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 372, 78, 418, 133 ], [ 509, 127, 565, 165 ], [ 400, 80, 517, 181 ], [ 494, 130, 494, 132 ], [ 311, 147, 393, 193 ], [ 245, 179, 253, 209 ], [ 258, 0, 320, 136 ] ], "distances_to_camera": [ 1.553, 1.523, 1.352, 1.641, 1.212, 1.219, 1.576 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Laptop|surface|2|54", "Pen|surface|2|67", "Box|surface|2|62", "Book|surface|2|57", "AlarmClock|surface|2|70", "Statue|surface|2|71", "CellPhone|surface|2|58" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "Television|2|4|1", "TissueBox|surface|2|52", "Vase|surface|2|51" ], "bounding_boxes": [ [ 0, 0, 126, 103 ], [ 0, 95, 14, 121 ], [ 107, 19, 152, 71 ] ], "distances_to_camera": [ 3.004, 2.869, 2.924 ], "positions_3d": [ [ 11.017, 1.178, 5.952 ], [ 10.688, 0.69, 6.105 ], [ 11.255, 0.688, 5.494 ] ], "qa_pairs": { "Q1_sort": [ "TissueBox|surface|2|52", "Vase|surface|2|51", "Television|2|4|1" ], "Q2_rel": { "Television|2|4|1": [ { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 } ], "TissueBox|surface|2|52": [ { "object": "Television|2|4|1", "direction": "back-right", "distance_3d": 0.608 }, { "object": "Vase|surface|2|51", "direction": "back-right", "distance_3d": 0.834 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 }, { "object": "TissueBox|surface|2|52", "direction": "front-left", "distance_3d": 0.834 } ] }, "Q3_type_count": 3, "Q4_count": 3 } } ] }, { "snapshot_label": "post_ang270_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang270_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang270_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang270_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang270_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang270_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 370, 0, 418, 34 ], [ 544, 25, 636, 46 ], [ 424, 0, 531, 52 ], [ 524, 31, 525, 34 ], [ 262, 29, 390, 57 ], [ 151, 49, 182, 63 ], [ 250, 0, 295, 33 ] ], "distances_to_camera": [ 1.553, 1.523, 1.352, 1.641, 1.212, 1.219, 1.576 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Laptop|surface|2|54", "Pen|surface|2|67", "Box|surface|2|62", "Book|surface|2|57", "AlarmClock|surface|2|70", "Statue|surface|2|71", "CellPhone|surface|2|58" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-right", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "back-right", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "front-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "TVStand|2|4|0", "relation": "supports", "room": "room0", "members": [ "Television|2|4|1", "Vase|surface|2|51" ], "bounding_boxes": [ [ 0, 0, 83, 36 ], [ 76, 0, 118, 27 ] ], "distances_to_camera": [ 3.004, 2.924 ], "positions_3d": [ [ 11.017, 1.178, 5.952 ], [ 11.255, 0.688, 5.494 ] ], "qa_pairs": { "Q1_sort": [ "Vase|surface|2|51", "Television|2|4|1" ], "Q2_rel": { "Television|2|4|1": [ { "object": "Vase|surface|2|51", "direction": "front-right", "distance_3d": 0.712 } ], "Vase|surface|2|51": [ { "object": "Television|2|4|1", "direction": "back-left", "distance_3d": 0.712 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang315_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang315_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang315_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang315_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang315_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang315_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "TennisRacket|surface|2|69" ], "bounding_boxes": [ [ 731, 0, 775, 10 ] ], "distances_to_camera": [ 3.886 ], "positions_3d": [ [ 9.401, 0.788, 0.869 ] ], "qa_pairs": { "Q1_sort": [ "TennisRacket|surface|2|69" ], "Q2_rel": { "TennisRacket|surface|2|69": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 335, 79, 381, 145 ], [ 491, 91, 518, 114 ], [ 386, 53, 525, 166 ], [ 327, 153, 435, 234 ], [ 296, 259, 332, 292 ], [ 198, 0, 300, 185 ] ], "distances_to_camera": [ 1.359, 1.719, 1.348, 0.961, 0.638, 1.128 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Pen|surface|2|67", "Laptop|surface|2|54", "Statue|surface|2|71", "Box|surface|2|62", "AlarmClock|surface|2|70", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "post_ang315_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang315_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang315_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang315_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang315_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang315_low.json" }, "topology_clusters": [ { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 318, 0, 374, 14 ], [ 523, 0, 552, 5 ], [ 409, 0, 523, 25 ], [ 276, 6, 458, 61 ], [ 193, 75, 251, 104 ], [ 173, 0, 242, 34 ] ], "distances_to_camera": [ 1.359, 1.719, 1.348, 0.961, 0.638, 1.128 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Pen|surface|2|67", "Laptop|surface|2|54", "Statue|surface|2|71", "Box|surface|2|62", "AlarmClock|surface|2|70", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.913 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "back-left", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "back", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.913 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-right", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "front", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.695 }, { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] }, { "snapshot_label": "post_ang45_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang45_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang45_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang45_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang45_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang45_high.json" }, "topology_clusters": [ { "receptacle": "Bed|2|0|0", "relation": "supports", "room": "room0", "members": [ "Pillow|2|0|2" ], "bounding_boxes": [ [ 0, 10, 14, 39 ] ], "distances_to_camera": [ 3.773 ], "positions_3d": [ [ 11.013, 0.828, 0.978 ] ], "qa_pairs": { "Q1_sort": [ "Pillow|2|0|2" ], "Q2_rel": { "Pillow|2|0|2": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 537, 8, 572, 49 ], [ 445, 0, 464, 33 ], [ 555, 60, 565, 65 ] ], "distances_to_camera": [ 3.143, 3.346, 2.914 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56", "BasketBall|surface|2|59", "Statue|surface|2|68" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "front-right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 336, 126, 383, 192 ], [ 279, 87, 338, 121 ], [ 313, 39, 432, 149 ], [ 281, 127, 318, 152 ], [ 404, 131, 502, 188 ], [ 542, 184, 564, 207 ], [ 425, 32, 492, 237 ] ], "distances_to_camera": [ 1.124, 1.782, 1.427, 1.481, 1.244, 1.196, 0.83 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|71", "AlarmClock|surface|2|70", "Pen|surface|2|67", "Laptop|surface|2|54", "Box|surface|2|62", "CellPhone|surface|2|58", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "front", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "back", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Book|surface|2|60", "Bowl|surface|2|55", "CellPhone|surface|2|64", "CreditCard|surface|2|72" ], "bounding_boxes": [ [ 485, 74, 510, 86 ], [ 545, 91, 563, 107 ], [ 446, 68, 463, 77 ], [ 564, 97, 565, 98 ] ], "distances_to_camera": [ 3.443, 3.146, 3.475, 3.32 ], "positions_3d": [ [ 7.973, 0.233, 3.253 ], [ 8.065, 0.235, 3.834 ], [ 8.158, 0.232, 2.866 ], [ 7.88, 0.233, 3.834 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|2|55", "CreditCard|surface|2|72", "Book|surface|2|60", "CellPhone|surface|2|64" ], "Q2_rel": { "Book|surface|2|60": [ { "object": "CellPhone|surface|2|64", "direction": "left", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.588 }, { "object": "CreditCard|surface|2|72", "direction": "front-right", "distance_3d": 0.588 } ], "Bowl|surface|2|55": [ { "object": "CreditCard|surface|2|72", "direction": "back", "distance_3d": 0.185 }, { "object": "Book|surface|2|60", "direction": "back-left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.972 } ], "CellPhone|surface|2|64": [ { "object": "Book|surface|2|60", "direction": "right", "distance_3d": 0.429 }, { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.972 }, { "object": "CreditCard|surface|2|72", "direction": "front-right", "distance_3d": 1.007 } ], "CreditCard|surface|2|72": [ { "object": "Bowl|surface|2|55", "direction": "front", "distance_3d": 0.185 }, { "object": "Book|surface|2|60", "direction": "back-left", "distance_3d": 0.588 }, { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 1.007 } ] }, "Q3_type_count": 4, "Q4_count": 4 } } ] }, { "snapshot_label": "post_ang45_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang45_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang45_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang45_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang45_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang45_low.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Watch|surface|2|56" ], "bounding_boxes": [ [ 548, 0, 586, 30 ], [ 573, 30, 584, 33 ] ], "distances_to_camera": [ 3.143, 2.914 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56", "BasketBall|surface|2|59" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front", "distance_3d": 0.294 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back", "distance_3d": 0.294 } ] }, "Q3_type_count": 2, "Q4_count": 2 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 313, 0, 375, 51 ], [ 244, 7, 318, 24 ], [ 365, 0, 420, 34 ], [ 234, 24, 290, 35 ], [ 406, 19, 551, 52 ], [ 631, 44, 652, 57 ], [ 444, 0, 527, 73 ] ], "distances_to_camera": [ 1.124, 1.782, 1.427, 1.481, 1.244, 1.196, 0.83 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|71", "AlarmClock|surface|2|70", "Pen|surface|2|67", "Laptop|surface|2|54", "Box|surface|2|62", "CellPhone|surface|2|58", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "back-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "front-right", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front-left", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "back-left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } } ] }, { "snapshot_label": "post_ang90_high", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang90_high.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang90_high.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang90_high.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang90_high.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang90_high.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "BasketBall|surface|2|59", "Statue|surface|2|68", "Watch|surface|2|56" ], "bounding_boxes": [ [ 377, 0, 407, 19 ], [ 283, 0, 303, 29 ], [ 410, 25, 419, 30 ] ], "distances_to_camera": [ 3.211, 3.221, 3.021 ], "positions_3d": [ [ 8.065, 0.698, 3.645 ], [ 8.251, 0.577, 2.87 ], [ 8.251, 0.578, 3.839 ] ], "qa_pairs": { "Q1_sort": [ "Watch|surface|2|56", "BasketBall|surface|2|59", "Statue|surface|2|68" ], "Q2_rel": { "BasketBall|surface|2|59": [ { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "left", "distance_3d": 0.806 } ], "Statue|surface|2|68": [ { "object": "BasketBall|surface|2|59", "direction": "right", "distance_3d": 0.806 }, { "object": "Watch|surface|2|56", "direction": "front-right", "distance_3d": 0.969 } ], "Watch|surface|2|56": [ { "object": "BasketBall|surface|2|59", "direction": "back-left", "distance_3d": 0.294 }, { "object": "Statue|surface|2|68", "direction": "back-left", "distance_3d": 0.969 } ] }, "Q3_type_count": 3, "Q4_count": 3 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Pen|surface|2|67", "Statue|surface|2|71" ], "bounding_boxes": [ [ 363, 139, 424, 201 ], [ 223, 125, 283, 167 ], [ 284, 44, 403, 159 ], [ 276, 169, 300, 201 ], [ 412, 118, 491, 163 ], [ 541, 121, 542, 126 ], [ 491, 0, 595, 207 ] ], "distances_to_camera": [ 0.977, 1.417, 1.232, 1.112, 1.316, 1.524, 1.014 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 9.833, 0.75, 4.539 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "AlarmClock|surface|2|70", "Statue|surface|2|71", "CellPhone|surface|2|58", "Box|surface|2|62", "Laptop|surface|2|54", "Book|surface|2|57", "Pen|surface|2|67" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.688 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.794 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 1.108 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.316 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.695 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.913 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.869 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 1.174 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Pen|surface|2|67", "direction": "back-right", "distance_3d": 0.447 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Pen|surface|2|67": [ { "object": "Laptop|surface|2|54", "direction": "front-left", "distance_3d": 0.447 }, { "object": "Statue|surface|2|71", "direction": "front", "distance_3d": 0.514 }, { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.794 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.913 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 1.174 }, { "object": "Book|surface|2|57", "direction": "front-left", "distance_3d": 1.316 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.441 }, { "object": "Pen|surface|2|67", "direction": "back", "distance_3d": 0.514 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 7, "Q4_count": 7 } }, { "receptacle": "CoffeeTable|2|2___0", "relation": "supports", "room": "room0", "members": [ "Bowl|surface|2|55", "CellPhone|surface|2|64" ], "bounding_boxes": [ [ 408, 56, 421, 71 ], [ 303, 64, 313, 69 ] ], "distances_to_camera": [ 3.258, 3.361 ], "positions_3d": [ [ 8.065, 0.235, 3.834 ], [ 8.158, 0.232, 2.866 ] ], "qa_pairs": { "Q1_sort": [ "Bowl|surface|2|55", "CellPhone|surface|2|64" ], "Q2_rel": { "Bowl|surface|2|55": [ { "object": "CellPhone|surface|2|64", "direction": "back-left", "distance_3d": 0.972 } ], "CellPhone|surface|2|64": [ { "object": "Bowl|surface|2|55", "direction": "front-right", "distance_3d": 0.972 } ] }, "Q3_type_count": 2, "Q4_count": 2 } } ] }, { "snapshot_label": "post_ang90_low", "file_paths": { "rgb": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/rgb/post_ang90_low.png", "depth": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/depth/post_ang90_low.png", "semantic": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/semantic/post_ang90_low.png", "instance": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/instance/post_ang90_low.png", "meta": "dynamic_procthor/qwen/house_train_167/episode_resident_sim_1771167058574/action9/place_CellPhone|surface|2|58_from_Chair|2|3|1_to_DiningTable|2|3|0_1771167176655_step19/meta/post_ang90_low.json" }, "topology_clusters": [ { "receptacle": "CoffeeTable|2|2", "relation": "supports", "room": "room0", "members": [ "Statue|surface|2|68" ], "bounding_boxes": [ [ 276, 0, 277, 1 ] ], "distances_to_camera": [ 3.221 ], "positions_3d": [ [ 8.251, 0.577, 2.87 ] ], "qa_pairs": { "Q1_sort": [ "Statue|surface|2|68" ], "Q2_rel": { "Statue|surface|2|68": [] }, "Q3_type_count": 1, "Q4_count": 1 } }, { "receptacle": "DiningTable|2|3|0", "relation": "supports", "room": "room0", "members": [ "AlarmClock|surface|2|70", "Book|surface|2|57", "Box|surface|2|62", "CellPhone|surface|2|58", "Laptop|surface|2|54", "Statue|surface|2|71" ], "bounding_boxes": [ [ 355, 0, 426, 145 ], [ 130, 2, 237, 28 ], [ 278, 0, 364, 24 ], [ 193, 26, 247, 44 ], [ 417, 0, 538, 26 ], [ 550, 0, 627, 47 ] ], "distances_to_camera": [ 0.977, 1.417, 1.232, 1.112, 1.316, 1.014 ], "positions_3d": [ [ 10.292, 0.745, 3.891 ], [ 10.062, 0.744, 3.243 ], [ 10.062, 0.938, 3.675 ], [ 10.292, 0.744, 3.459 ], [ 9.947, 0.744, 4.107 ], [ 10.292, 0.834, 4.323 ] ], "qa_pairs": { "Q1_sort": [ "AlarmClock|surface|2|70", "Statue|surface|2|71", "CellPhone|surface|2|58", "Box|surface|2|62", "Laptop|surface|2|54", "Book|surface|2|57" ], "Q2_rel": { "AlarmClock|surface|2|70": [ { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.37 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.407 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.432 }, { "object": "Statue|surface|2|71", "direction": "right", "distance_3d": 0.441 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.688 } ], "Book|surface|2|57": [ { "object": "CellPhone|surface|2|58", "direction": "front-right", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "front-right", "distance_3d": 0.474 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.688 }, { "object": "Laptop|surface|2|54", "direction": "front-right", "distance_3d": 0.872 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 1.108 } ], "Box|surface|2|62": [ { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.37 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.37 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.474 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.487 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.695 } ], "CellPhone|surface|2|58": [ { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.316 }, { "object": "Box|surface|2|62", "direction": "back-right", "distance_3d": 0.37 }, { "object": "AlarmClock|surface|2|70", "direction": "front-right", "distance_3d": 0.432 }, { "object": "Laptop|surface|2|54", "direction": "back-right", "distance_3d": 0.734 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.869 } ], "Laptop|surface|2|54": [ { "object": "AlarmClock|surface|2|70", "direction": "front-left", "distance_3d": 0.407 }, { "object": "Statue|surface|2|71", "direction": "front-right", "distance_3d": 0.417 }, { "object": "Box|surface|2|62", "direction": "front-left", "distance_3d": 0.487 }, { "object": "CellPhone|surface|2|58", "direction": "front-left", "distance_3d": 0.734 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 0.872 } ], "Statue|surface|2|71": [ { "object": "Laptop|surface|2|54", "direction": "back-left", "distance_3d": 0.417 }, { "object": "AlarmClock|surface|2|70", "direction": "left", "distance_3d": 0.441 }, { "object": "Box|surface|2|62", "direction": "back-left", "distance_3d": 0.695 }, { "object": "CellPhone|surface|2|58", "direction": "back-left", "distance_3d": 0.869 }, { "object": "Book|surface|2|57", "direction": "back-left", "distance_3d": 1.108 } ] }, "Q3_type_count": 6, "Q4_count": 6 } } ] } ] } } } }, "worlds": {} }