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- annotations/task-0015/episode_00150050.json +212 -0
- annotations/task-0015/episode_00150060.json +212 -0
- annotations/task-0015/episode_00150080.json +212 -0
- annotations/task-0015/episode_00150090.json +212 -0
- annotations/task-0015/episode_00150100.json +212 -0
- annotations/task-0015/episode_00150110.json +212 -0
- annotations/task-0015/episode_00150120.json +212 -0
- annotations/task-0015/episode_00150130.json +212 -0
- annotations/task-0015/episode_00150240.json +212 -0
- annotations/task-0015/episode_00150250.json +212 -0
- annotations/task-0015/episode_00150270.json +212 -0
- annotations/task-0015/episode_00150280.json +212 -0
- annotations/task-0015/episode_00150300.json +212 -0
- annotations/task-0015/episode_00150310.json +212 -0
- annotations/task-0015/episode_00150320.json +212 -0
- annotations/task-0015/episode_00150330.json +212 -0
- annotations/task-0015/episode_00150440.json +212 -0
- annotations/task-0015/episode_00150470.json +212 -0
- annotations/task-0015/episode_00150510.json +212 -0
- annotations/task-0015/episode_00150520.json +212 -0
- annotations/task-0015/episode_00150530.json +212 -0
- annotations/task-0015/episode_00150660.json +212 -0
- annotations/task-0015/episode_00150690.json +212 -0
- annotations/task-0015/episode_00150720.json +212 -0
- annotations/task-0015/episode_00150810.json +212 -0
- annotations/task-0015/episode_00151050.json +212 -0
- annotations/task-0015/episode_00151060.json +212 -0
- annotations/task-0015/episode_00151080.json +212 -0
- annotations/task-0015/episode_00151090.json +212 -0
- annotations/task-0015/episode_00151100.json +212 -0
- annotations/task-0015/episode_00151130.json +212 -0
- annotations/task-0015/episode_00151240.json +212 -0
- annotations/task-0015/episode_00151260.json +212 -0
- annotations/task-0015/episode_00151270.json +212 -0
- annotations/task-0015/episode_00151280.json +212 -0
- annotations/task-0015/episode_00151290.json +212 -0
- annotations/task-0015/episode_00151310.json +212 -0
- annotations/task-0015/episode_00151320.json +212 -0
- annotations/task-0015/episode_00151330.json +212 -0
- annotations/task-0015/episode_00151500.json +212 -0
- annotations/task-0015/episode_00151510.json +246 -0
- annotations/task-0015/episode_00151520.json +212 -0
- annotations/task-0015/episode_00151640.json +212 -0
- annotations/task-0015/episode_00151650.json +212 -0
- annotations/task-0015/episode_00151660.json +212 -0
- annotations/task-0015/episode_00151690.json +212 -0
- annotations/task-0015/episode_00151710.json +212 -0
- annotations/task-0015/episode_00151730.json +212 -0
- annotations/task-0015/episode_00151800.json +212 -0
- annotations/task-0015/episode_00151810.json +212 -0
annotations/task-0015/episode_00150050.json
ADDED
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| 1 |
+
{
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| 2 |
+
"task_name": "bringing in wood",
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| 3 |
+
"data_folder": "",
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| 4 |
+
"meta_data": {
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| 5 |
+
"task_duration": 14700,
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| 6 |
+
"valid_duration": [105, 14805]
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| 7 |
+
},
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| 8 |
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"skill_annotation": [
|
| 9 |
+
{
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| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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|
| 16 |
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| 17 |
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| 18 |
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"mp_ef": [],
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| 19 |
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"skill_type": ["navigation"]
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| 20 |
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},
|
| 21 |
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{
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| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_201"],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [1689, 2709],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["floors_qadhjb_0"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [2710, 3402],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
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| 52 |
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"spatial_prefix": [],
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| 53 |
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"frame_duration": [3402, 5027],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5027, 6063],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [6063, 6778],
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| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
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| 81 |
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{
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| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
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| 85 |
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"object_id": [["plywood_203"]],
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| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6779, 9367],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [9367, 10320],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [10321, 10478],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [10479, 11055],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11055, 13711],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [13721, 14350],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14350, 14805],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [105, 2709],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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"memory_prefix": [],
|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [2710, 5027],
|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5027, 6778],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
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{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6779, 14805],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150060.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15162,
|
| 6 |
+
"valid_duration": [150, 15312]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [150, 1350],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
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|
| 21 |
+
{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [1374, 2193],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
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|
| 42 |
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"mp_ef": [],
|
| 43 |
+
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|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3018, 4693],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4693, 5672],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5672, 6357],
|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6366, 9000],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [9010, 9757],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [10540, 11229],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11229, 13877],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [13881, 14788],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14789, 15312],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [150, 2193],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2580, 4693],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4693, 6357],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6366, 15312],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150080.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15037,
|
| 6 |
+
"valid_duration": [120, 15157]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
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|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
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|
| 15 |
+
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|
| 16 |
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|
| 17 |
+
"frame_duration": [120, 990],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
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"frame_duration": [990, 1899],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1899, 3051],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3051, 4630],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4630, 5531],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5531, 6120],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6120, 8339],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8339, 9647],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [9647, 10567],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10567, 11494],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11494, 13928],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14048, 14797],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14797, 15157],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [120, 1899],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
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|
| 184 |
+
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1899, 4630],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4630, 6120],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6120, 15157],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150090.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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"manipulating_object_id": [],
|
| 15 |
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"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [163, 1005],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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|
| 29 |
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"frame_duration": [1005, 1847],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
|
| 41 |
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"frame_duration": [1967, 3827],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3858, 5674],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5690, 6468],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
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"frame_duration": [6477, 7164],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [7314, 8580],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11726, 12738],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [12803, 15853],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [15893, 16469],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [16527, 16868],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [163, 1847],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1967, 5674],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5690, 7164],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7314, 16868],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150100.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [105, 576],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [578, 1577],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1577, 3045],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3075, 4574],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4591, 5505],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5505, 6203],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6203, 7245],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [7455, 7990],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [7990, 9816],
|
| 114 |
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|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [9816, 10578],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [10584, 13167],
|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [13167, 13989],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13989, 14579],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [105, 1577],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1577, 4574],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4591, 6203],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6203, 14579],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150110.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13653,
|
| 6 |
+
"valid_duration": [90, 13743]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [90, 269],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [269, 1126],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1126, 2446],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2446, 3992],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3993, 4858],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4858, 5505],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5565, 7766],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7767, 8910],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8910, 9399],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9400, 10170],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10171, 12600],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_202"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [12600, 13314],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13314, 13743],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [90, 1126],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1126, 3992],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3993, 5505],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5565, 13743],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150120.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13800,
|
| 6 |
+
"valid_duration": [0, 13800]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1068],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1128, 1879],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1879, 2340],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2453, 4931],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4932, 6173],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6173, 6714],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6714, 8727],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8727, 9564],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9564, 10031],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10031, 10683],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [10684, 13097],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [13098, 13463],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [13464, 13800],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1879],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1879, 4931],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4932, 6714],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6714, 13800],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150130.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
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|
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|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
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|
|
| 1 |
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|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
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| 39 |
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| 42 |
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| 44 |
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| 45 |
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|
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 54 |
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| 55 |
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|
| 56 |
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| 57 |
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| 58 |
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|
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| 60 |
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| 64 |
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| 67 |
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| 68 |
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|
| 70 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 118 |
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| 120 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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|
| 156 |
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| 157 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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{
|
| 201 |
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"primitive_idx": 3,
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150240.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
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|
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|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 334],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1544, 3341],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_201"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [956, 3341],
|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_201"],
|
| 195 |
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|
| 196 |
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"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3341, 4919],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4949, 12810],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150250.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [3453, 5538],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7148, 9030],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10057, 10409],
|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [12989, 13240],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1908],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1908, 5538],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5538, 7147],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7148, 13240],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150270.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15420,
|
| 6 |
+
"valid_duration": [0, 15420]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 901],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1021, 1706],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1706, 3450],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3450, 5661],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5661, 6872],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6875, 7414],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7414, 10110],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10110, 10700],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_203"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10700, 11656],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_203"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11656, 12272],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12272, 14384],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_202"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14384, 14762],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14762, 15420],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1706],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1706, 5661],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5661, 7414],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7414, 15420],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150280.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14918,
|
| 6 |
+
"valid_duration": [0, 14918]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1668],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1668, 2487],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2487, 3225],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3256, 5791],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5791, 6885],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6885, 7459],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7459, 9914],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9915, 10479],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10479, 11070],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11070, 11595],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11595, 14278],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14278, 14497],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14497, 14918],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 2487],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2487, 5791],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5791, 7459],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7459, 14918],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150300.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 76 |
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| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 110 |
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| 111 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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| 137 |
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| 138 |
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| 139 |
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|
| 140 |
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| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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| 151 |
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|
| 152 |
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|
| 153 |
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| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
+
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|
| 200 |
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{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
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|
| 206 |
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"memory_prefix": ["the other", ""],
|
| 207 |
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|
| 208 |
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"frame_duration": [7772, 14288],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150310.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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"valid_duration": [0, 14899]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 1529],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1529, 2141],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [2201, 2659],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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|
| 53 |
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"frame_duration": [2839, 5930],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [5930, 7153],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [7183, 7664],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7673, 8778],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10886, 11310],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11310, 14034],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14094, 14545],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14576, 14899],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [0, 2141],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [2201, 5930],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5930, 7664],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7673, 14899],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150320.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [2393, 3278],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [3279, 4419],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [4419, 7533],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [7533, 8625],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [8625, 9198],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [9198, 10967],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [10967, 11632],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [11632, 12002],
|
| 114 |
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|
| 115 |
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|
| 116 |
+
},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [12002, 12524],
|
| 126 |
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"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [12525, 14900],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14900, 15514],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [15514, 15944],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 3278],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [3279, 7533],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [7533, 9198],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [9198, 15944],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150330.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15201,
|
| 6 |
+
"valid_duration": [18, 15219]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [18, 942],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [942, 1868],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1868, 2792],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2792, 6484],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
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"frame_duration": [6484, 7530],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7560, 8319],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8319, 10781],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [10781, 11405],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11406, 11563],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11564, 12052],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12052, 14389],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14389, 14830],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14830, 15219],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [18, 1868],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1868, 6484],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [6484, 8319],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [8319, 15219],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150440.json
ADDED
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@@ -0,0 +1,212 @@
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| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13197,
|
| 6 |
+
"valid_duration": [90, 13287]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [90, 1059],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1059, 2220],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2220, 2782],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2782, 4030],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4031, 4631],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4631, 5279],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_201"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5369, 7507],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_201"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7507, 8452],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8452, 8919],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8919, 9633],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [9633, 12158],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_202"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [12159, 12806],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [12807, 13287],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [90, 2220],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2220, 4030],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4031, 5279],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5369, 13287],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150470.json
ADDED
|
@@ -0,0 +1,212 @@
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|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
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|
| 191 |
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"primitive_id": [3],
|
| 192 |
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|
| 193 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4166, 9799],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150510.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
"valid_duration": [60, 13219]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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|
| 15 |
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"memory_prefix": [],
|
| 16 |
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|
| 17 |
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"frame_duration": [60, 1431],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1431, 2185],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2185, 3097],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3097, 4296],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4296, 5268],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5268, 5828],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5828, 7336],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [7336, 7720],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [7720, 8741],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [8741, 9263],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [9263, 11968],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [11968, 12356],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [12356, 13219],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 2185],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2185, 4296],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4296, 5828],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5828, 13219],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150520.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
+
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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|
| 15 |
+
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|
| 16 |
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|
| 17 |
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"frame_duration": [90, 1449],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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|
| 29 |
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"frame_duration": [1449, 2037],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2037, 2475],
|
| 42 |
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"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2475, 3537],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3537, 4529],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [4529, 4942],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4942, 5893],
|
| 90 |
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"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
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"frame_duration": [5893, 6435],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [6435, 7739],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7739, 8155],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [8155, 10449],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [10902, 11330],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [90, 2037],
|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [2037, 3537],
|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3537, 4942],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4942, 11330],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150530.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5754, 7707],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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{
|
| 201 |
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"primitive_idx": 3,
|
| 202 |
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|
| 203 |
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|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5754, 12180],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150660.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10008,
|
| 6 |
+
"valid_duration": [60, 10068]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 1429],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1429, 2286],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2286, 2634],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2634, 3755],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3755, 4701],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4701, 5405],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5405, 6275],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6275, 6760],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [6760, 7173],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7173, 7725],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [7725, 9142],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [9142, 9654],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [9654, 10068],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 2286],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2286, 3755],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3755, 5405],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5405, 10068],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150690.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6177, 8597],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10251, 10712],
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [10713, 13457],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [13826, 14539],
|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
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"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
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|
| 196 |
+
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|
| 197 |
+
"frame_duration": [4632, 6177],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6177, 14539],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150720.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10674,
|
| 6 |
+
"valid_duration": [120, 10794]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [120, 1197],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [1197, 1729],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1729, 2220],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": ["door_vudhlc_1"],
|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2220, 3354],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3354, 4351],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4351, 4821],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [4821, 6182],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [6182, 6463],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [6463, 7291],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [7291, 7584],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [7584, 9898],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [9898, 10249],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [10249, 10794],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [120, 1729],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": ["door_vudhlc_1"],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1729, 3354],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3354, 4821],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4821, 10794],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150810.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 522],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [522, 1082],
|
| 30 |
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|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1082, 2358],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2358, 3409],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3409, 4319],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [4319, 4670],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [4670, 6220],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [6220, 6563],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [6563, 7356],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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|
| 116 |
+
},
|
| 117 |
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{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [7703, 10155],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [1082, 3409],
|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3409, 4670],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4670, 10784],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151050.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7053, 8800],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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],
|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5070, 7053],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7053, 13836],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151060.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15098,
|
| 6 |
+
"valid_duration": [0, 15098]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1687],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1687, 2499],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2670, 3119],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3119, 5571],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5572, 6420],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6421, 7093],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7093, 7976],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7995, 8842],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8940, 10845],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10908, 11349],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11349, 14168],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14168, 14658],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14658, 15098],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 2499],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2670, 5571],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5572, 7093],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7093, 15098],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151080.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [119, 2284],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [9902, 10638],
|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [10783, 12335],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
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|
| 196 |
+
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|
| 197 |
+
"frame_duration": [5243, 6787],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6788, 13610],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151090.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14360,
|
| 6 |
+
"valid_duration": [129, 14489]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [129, 1573],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
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|
| 28 |
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|
| 29 |
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"frame_duration": [1574, 2511],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3644, 5647],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5647, 6963],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6963, 7468],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7468, 9478],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10409, 10989],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [10989, 13516],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [13516, 14001],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14001, 14489],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [129, 2511],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2511, 5647],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
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|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5647, 7468],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7468, 14489],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151100.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 185],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [245, 987],
|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [987, 2242],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2422, 3821],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [3821, 4930],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [4990, 5460],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5460, 7960],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [8050, 8516],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [8516, 8973],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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|
| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
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},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_203"],
|
| 195 |
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|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [3821, 5460],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
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"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_202", "plywood_201"]],
|
| 206 |
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"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
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"frame_duration": [5460, 12903],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151130.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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| 64 |
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|
| 65 |
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| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6030, 8484],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4436, 5827],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6030, 14010],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151240.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15965,
|
| 6 |
+
"valid_duration": [180, 16145]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [180, 2703],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [2703, 3598],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [3598, 3732],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3732, 5104],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5104, 5882],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5888, 6638],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6653, 8457],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8457, 9447],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9447, 11043],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11043, 11940],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11940, 14661],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_201"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14661, 15187],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [15187, 16145],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [180, 3598],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [3598, 5104],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5104, 6638],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6653, 16145],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151260.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8370, 9390],
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
+
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|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
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|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3886, 4806],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4806, 12569],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151270.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14601,
|
| 6 |
+
"valid_duration": [122, 14723]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [122, 504],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
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|
| 28 |
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|
| 29 |
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"frame_duration": [534, 1572],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1572, 3008],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3008, 4603],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4603, 5485],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5489, 6436],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6436, 9502],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [10266, 10542],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10543, 11362],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11362, 13575],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [13575, 13996],
|
| 150 |
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|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [13997, 14723],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [122, 1572],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1572, 4603],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4603, 6436],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6436, 14723],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151280.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [120, 546],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [546, 1598],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [1598, 3277],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3294, 4771],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [4772, 5558],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5558, 6072],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6073, 8861],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [8861, 9426],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [10597, 12819],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [120, 1598],
|
| 176 |
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|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [1598, 4771],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4772, 6072],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6073, 14109],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151290.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [8094, 10577],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2894, 6690],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [6690, 8094],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [8094, 16239],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151310.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15642,
|
| 6 |
+
"valid_duration": [60, 15702]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_203"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 1365],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_203"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1635, 2581],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2582, 3410],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3410, 4797],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4797, 5635],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_203"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5636, 6329],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6329, 9778],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_202"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9778, 10664],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10664, 11290],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11290, 12282],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12283, 14489],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_202"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14489, 15018],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [15018, 15702],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 2581],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2582, 4797],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4797, 6329],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6329, 15702],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151320.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
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|
| 16 |
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|
| 17 |
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"frame_duration": [150, 1566],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
+
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|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6930, 9626],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [9686, 10602],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11474, 12539],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [12539, 14873],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [150, 2608],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
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|
| 184 |
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|
| 185 |
+
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|
| 186 |
+
"frame_duration": [2609, 5151],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5151, 6930],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6930, 16299],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151330.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14551,
|
| 6 |
+
"valid_duration": [118, 14669]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [118, 1631],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1765, 2609],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2615, 3034],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3034, 5115],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5115, 5850],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5850, 6782],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6782, 8925],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8926, 9728],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [9728, 10533],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [10534, 11368],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11368, 13525],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [13525, 14142],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14143, 14669],
|
| 162 |
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"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [118, 2609],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2615, 5115],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5115, 6782],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6782, 14669],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151500.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13950,
|
| 6 |
+
"valid_duration": [94, 14044]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [94, 871],
|
| 18 |
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"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [901, 1545],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1802, 3270],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3271, 4508],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4508, 5299],
|
| 66 |
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"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5299, 5778],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_202"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6013, 8101],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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{
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| 118 |
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| 119 |
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| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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|
| 140 |
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [94, 1545],
|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [1802, 4508],
|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
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{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_201"],
|
| 195 |
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"memory_prefix": [],
|
| 196 |
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"spatial_prefix": [],
|
| 197 |
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"frame_duration": [4508, 5778],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6013, 14044],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151510.json
ADDED
|
@@ -0,0 +1,246 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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"skill_description": ["pick up from"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [1685, 1972],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["place on"],
|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["open door"],
|
| 61 |
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"object_id": [["door_vudhlc_1"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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"object_id": [["plywood_202"]],
|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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"frame_duration": [3513, 3845],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["pick up from"],
|
| 85 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3845, 4193],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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|
| 95 |
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"skill_id": [1],
|
| 96 |
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"skill_description": ["move to"],
|
| 97 |
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"object_id": [["floors_xorxro_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["place on"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [4650, 4863],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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{
|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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| 172 |
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| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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| 178 |
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|
| 179 |
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{
|
| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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{
|
| 202 |
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"primitive_idx": 2,
|
| 203 |
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"primitive_id": [10],
|
| 204 |
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"primitive_description": ["open door"],
|
| 205 |
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"object_id": [["door_vudhlc_1"]],
|
| 206 |
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"manipulating_object_id": [],
|
| 207 |
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|
| 208 |
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"spatial_prefix": [],
|
| 209 |
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"frame_duration": [2671, 3513],
|
| 210 |
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|
| 211 |
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|
| 212 |
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{
|
| 213 |
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"primitive_idx": 3,
|
| 214 |
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"primitive_id": [2],
|
| 215 |
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"primitive_description": ["pick up from"],
|
| 216 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 217 |
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"manipulating_object_id": ["plywood_202"],
|
| 218 |
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|
| 219 |
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|
| 220 |
+
"frame_duration": [3513, 4193],
|
| 221 |
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"skill_idxes": [5, 6]
|
| 222 |
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|
| 223 |
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{
|
| 224 |
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"primitive_idx": 4,
|
| 225 |
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"primitive_id": [3],
|
| 226 |
+
"primitive_description": ["place on"],
|
| 227 |
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"object_id": [[["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 228 |
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"manipulating_object_id": [["plywood_201", "plywood_202"]],
|
| 229 |
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"memory_prefix": [],
|
| 230 |
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"spatial_prefix": [],
|
| 231 |
+
"frame_duration": [4193, 5141],
|
| 232 |
+
"skill_idxes": [7, 8, 9]
|
| 233 |
+
},
|
| 234 |
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{
|
| 235 |
+
"primitive_idx": 5,
|
| 236 |
+
"primitive_id": [2, 3],
|
| 237 |
+
"primitive_description": ["pick up from", "place on"],
|
| 238 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"], ["plywood_203", "floors_xorxro_0"]],
|
| 239 |
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"manipulating_object_id": ["plywood_203", "plywood_203"],
|
| 240 |
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"memory_prefix": ["the other", ""],
|
| 241 |
+
"spatial_prefix": [],
|
| 242 |
+
"frame_duration": [5141, 9450],
|
| 243 |
+
"skill_idxes": [10, 11, 12, 13]
|
| 244 |
+
}
|
| 245 |
+
]
|
| 246 |
+
}
|
annotations/task-0015/episode_00151520.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 15 |
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| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4618, 5812],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5812, 14710],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151640.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14806,
|
| 6 |
+
"valid_duration": [210, 15016]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [210, 744],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [744, 1593],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [1593, 3183],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3183, 4533],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4533, 5374],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_202"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5374, 6020],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6020, 8747],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9036, 9759],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9759, 10341],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_201"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10341, 11223],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [11223, 13542],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [13542, 14214],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_201"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14214, 15016],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [210, 1593],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [1593, 4533],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4533, 6020],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6020, 15016],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151650.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
+
{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [135, 643],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5354, 7271],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [8479, 9224],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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"frame_duration": [9224, 11408],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
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"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [3870, 5353],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5354, 13050],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151660.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15345,
|
| 6 |
+
"valid_duration": [195, 15540]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [195, 1229],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [1229, 2061],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [2067, 3784],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [3784, 5223],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5223, 5892],
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5892, 6439],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6455, 9432],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [11040, 12000],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [12000, 14344],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [14344, 15030],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [15030, 15540],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [195, 2061],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [2067, 5223],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5223, 6439],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6455, 15540],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151690.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_203"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [180, 1537],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_203"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1537, 2228],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
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"frame_duration": [2228, 2801],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2801, 4450],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [4450, 5141],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5141, 5703],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5703, 7802],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [7802, 8621],
|
| 102 |
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"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [9588, 11508],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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"primitive_id": [2],
|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_203"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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"frame_duration": [2228, 4450],
|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_203"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [4450, 5703],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_202", "plywood_201"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5703, 12755],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151710.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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"skill_id": [2],
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1500, 2795],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [3917, 4234],
|
| 78 |
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [4235, 5864],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [5864, 6426],
|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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|
| 184 |
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| 185 |
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| 186 |
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"frame_duration": [1056, 2795],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [2795, 4234],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [4235, 10261],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151730.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 15965,
|
| 6 |
+
"valid_duration": [210, 16175]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [210, 1744],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_201"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1744, 2575],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
"manipulating_object_id": [],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [],
|
| 41 |
+
"frame_duration": [2575, 4233],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4233, 5796],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5796, 6686],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
+
"manipulating_object_id": ["plywood_201"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6686, 7275],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [1],
|
| 84 |
+
"skill_description": ["move to"],
|
| 85 |
+
"object_id": [["plywood_203"]],
|
| 86 |
+
"manipulating_object_id": [],
|
| 87 |
+
"memory_prefix": ["the other"],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7275, 9790],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
+
"manipulating_object_id": ["plywood_203"],
|
| 99 |
+
"memory_prefix": ["the other"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9790, 10628],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["plywood_202"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["the other"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10628, 11711],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
+
"manipulating_object_id": ["plywood_202"],
|
| 123 |
+
"memory_prefix": ["the other"],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [11741, 12505],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
+
{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
+
"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
+
"object_id": [["floors_xorxro_0"]],
|
| 134 |
+
"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
+
"spatial_prefix": [],
|
| 137 |
+
"frame_duration": [12505, 14897],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
+
"manipulating_object_id": ["plywood_203"],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [14927, 15457],
|
| 150 |
+
"mp_ef": [],
|
| 151 |
+
"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
+
"manipulating_object_id": ["plywood_202"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [15457, 16175],
|
| 162 |
+
"mp_ef": [],
|
| 163 |
+
"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [210, 2575],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2575, 5796],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5796, 7275],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [7275, 16175],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151800.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14793,
|
| 6 |
+
"valid_duration": [122, 14915]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [122, 1445],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
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|
| 28 |
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|
| 29 |
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"frame_duration": [1445, 2298],
|
| 30 |
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|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [5237, 6076],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6076, 6702],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6702, 9183],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [9183, 10125],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [10125, 10493],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [10493, 11269],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11269, 13585],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
+
"skill_description": ["place on"],
|
| 145 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [13585, 14186],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
+
},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14186, 14915],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [122, 2298],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
"memory_prefix": [],
|
| 185 |
+
"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [2298, 5237],
|
| 187 |
+
"skill_idxes": [2, 3]
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 194 |
+
"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5237, 6702],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6702, 14915],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151810.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14115,
|
| 6 |
+
"valid_duration": [30, 14145]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [30, 1262],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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| 41 |
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| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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{
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| 82 |
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|
| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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|
| 93 |
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{
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| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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{
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| 118 |
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| 119 |
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|
| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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|
| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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|
| 142 |
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| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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|
| 151 |
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|
| 152 |
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| 153 |
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|
| 154 |
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| 155 |
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|
| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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| 167 |
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{
|
| 168 |
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| 169 |
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|
| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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{
|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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}
|
| 211 |
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]
|
| 212 |
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}
|