Hugging Face's logo

Datasets:
behavior-1k
/
2025-challenge-demos

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100M - 1B
ArXiv:
Tags:
LeRobot
v
2
.
1
DOI:
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
4
wensi-ai commited on
Commit
767d5ce
·
verified ·
1 Parent(s): 2ff0d5a

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. annotations/task-0000/episode_00000010.json +153 -49
  2. annotations/task-0000/episode_00000020.json +153 -49
  3. annotations/task-0000/episode_00000030.json +153 -49
  4. annotations/task-0000/episode_00000040.json +153 -49
  5. annotations/task-0000/episode_00000050.json +153 -49
  6. annotations/task-0000/episode_00000060.json +153 -49
  7. annotations/task-0000/episode_00000070.json +153 -49
  8. annotations/task-0000/episode_00000080.json +153 -49
  9. annotations/task-0000/episode_00000100.json +153 -49
  10. annotations/task-0000/episode_00000110.json +153 -49
  11. annotations/task-0000/episode_00000120.json +153 -49
  12. annotations/task-0000/episode_00000130.json +153 -49
  13. annotations/task-0000/episode_00000140.json +153 -49
  14. annotations/task-0000/episode_00000160.json +153 -49
  15. annotations/task-0000/episode_00000170.json +153 -49
  16. annotations/task-0000/episode_00000180.json +153 -49
  17. annotations/task-0000/episode_00000190.json +153 -49
  18. annotations/task-0000/episode_00000200.json +153 -49
  19. annotations/task-0000/episode_00000210.json +153 -49
  20. annotations/task-0000/episode_00000220.json +153 -49
  21. annotations/task-0000/episode_00000230.json +153 -49
  22. annotations/task-0000/episode_00000240.json +153 -49
  23. annotations/task-0000/episode_00000250.json +153 -49
  24. annotations/task-0000/episode_00000260.json +153 -49
  25. annotations/task-0000/episode_00000270.json +153 -49
  26. annotations/task-0000/episode_00000280.json +153 -49
  27. annotations/task-0000/episode_00000290.json +153 -49
  28. annotations/task-0000/episode_00000300.json +153 -49
  29. annotations/task-0000/episode_00000310.json +153 -49
  30. annotations/task-0000/episode_00000320.json +153 -49
  31. annotations/task-0000/episode_00000330.json +153 -49
  32. annotations/task-0000/episode_00000340.json +153 -49
  33. annotations/task-0000/episode_00000350.json +153 -49
  34. annotations/task-0000/episode_00000360.json +153 -49
  35. annotations/task-0000/episode_00000370.json +153 -49
  36. annotations/task-0000/episode_00000380.json +153 -49
  37. annotations/task-0000/episode_00000390.json +153 -49
  38. annotations/task-0000/episode_00000400.json +153 -49
  39. annotations/task-0000/episode_00000410.json +153 -49
  40. annotations/task-0000/episode_00000420.json +153 -49
  41. annotations/task-0000/episode_00000430.json +153 -49
  42. annotations/task-0000/episode_00000440.json +153 -49
  43. annotations/task-0000/episode_00000450.json +153 -49
  44. annotations/task-0000/episode_00000460.json +153 -49
  45. annotations/task-0000/episode_00000470.json +153 -49
  46. annotations/task-0000/episode_00000480.json +153 -49
  47. annotations/task-0000/episode_00000490.json +153 -49
  48. annotations/task-0000/episode_00000500.json +153 -49
  49. annotations/task-0000/episode_00000510.json +153 -49
  50. annotations/task-0000/episode_00000520.json +153 -49
annotations/task-0000/episode_00000010.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1776,
6
- "valid_duration": [0, 1776]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 265],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [265, 1162],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1162, 1434],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1434, 1776],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1162],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1162, 1434],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1434, 1776],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1776,
6
+ "valid_duration": [
7
+ 0,
8
+ 1776
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 265
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 265,
56
+ 1162
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1162,
82
+ 1434
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1434,
109
+ 1776
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1162
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1162,
164
+ 1434
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1434,
190
+ 1776
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000020.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2001,
6
- "valid_duration": [0, 2001]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 376],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [376, 1223],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1224, 1523],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1545, 2001],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1223],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1224, 1523],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1545, 2001],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2001,
6
+ "valid_duration": [
7
+ 0,
8
+ 2001
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 376
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 376,
56
+ 1223
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1224,
82
+ 1523
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1545,
109
+ 2001
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1223
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1224,
164
+ 1523
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1545,
190
+ 2001
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000030.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2038,
6
- "valid_duration": [0, 2038]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 211],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [666, 999],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [999, 1408],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1416, 2038],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 999],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [999, 1408],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1416, 2038],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2038,
6
+ "valid_duration": [
7
+ 0,
8
+ 2038
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 211
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 666,
56
+ 999
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 999,
82
+ 1408
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1416,
109
+ 2038
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 999
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 999,
164
+ 1408
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1416,
190
+ 2038
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000040.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1839,
6
- "valid_duration": [0, 1839]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 308],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [308, 1118],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1123, 1368],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1369, 1839],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1118],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1123, 1368],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1369, 1839],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1839,
6
+ "valid_duration": [
7
+ 0,
8
+ 1839
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 308
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 308,
56
+ 1118
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1123,
82
+ 1368
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1369,
109
+ 1839
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1118
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1123,
164
+ 1368
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1369,
190
+ 1839
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000050.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1484,
6
- "valid_duration": [0, 1484]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 360],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [360, 1021],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1021, 1166],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1166, 1484],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1021],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1021, 1166],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1166, 1484],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1484,
6
+ "valid_duration": [
7
+ 0,
8
+ 1484
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 360
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 360,
56
+ 1021
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1021,
82
+ 1166
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1166,
109
+ 1484
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1021
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1021,
164
+ 1166
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1166,
190
+ 1484
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000060.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2529,
6
- "valid_duration": [576, 3105]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [576, 1443],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [1443, 2390],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [2390, 2644],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2644, 3105],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [576, 2390],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [2390, 2644],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2644, 3105],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2529,
6
+ "valid_duration": [
7
+ 576,
8
+ 3105
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 576,
29
+ 1443
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1443,
56
+ 2390
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 2390,
82
+ 2644
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2644,
109
+ 3105
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 576,
138
+ 2390
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 2390,
164
+ 2644
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2644,
190
+ 3105
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000070.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2253,
6
- "valid_duration": [0, 2253]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 320],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [320, 1479],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1479, 1662],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1662, 2253],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1479],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1479, 1662],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1662, 2253],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2253,
6
+ "valid_duration": [
7
+ 0,
8
+ 2253
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 320
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 320,
56
+ 1479
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1479,
82
+ 1662
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1662,
109
+ 2253
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1479
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1479,
164
+ 1662
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1662,
190
+ 2253
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000080.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2356,
6
- "valid_duration": [0, 2356]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 334],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [844, 1473],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1473, 1864],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1865, 2356],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1473],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1473, 1864],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1865, 2356],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2356,
6
+ "valid_duration": [
7
+ 0,
8
+ 2356
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 334
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 844,
56
+ 1473
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1473,
82
+ 1864
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1865,
109
+ 2356
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1473
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1473,
164
+ 1864
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1865,
190
+ 2356
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000100.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2216,
6
- "valid_duration": [0, 2216]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 598],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [598, 1477],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1498, 1782],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1782, 2216],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1477],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1498, 1782],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1782, 2216],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2216,
6
+ "valid_duration": [
7
+ 0,
8
+ 2216
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 598
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 598,
56
+ 1477
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1498,
82
+ 1782
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1782,
109
+ 2216
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1477
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1498,
164
+ 1782
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1782,
190
+ 2216
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000110.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2247,
6
- "valid_duration": [0, 2247]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 865],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [866, 1557],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1557, 1994],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1994, 2247],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1557],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1557, 1994],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1994, 2247],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2247,
6
+ "valid_duration": [
7
+ 0,
8
+ 2247
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 865
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 866,
56
+ 1557
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1557,
82
+ 1994
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1994,
109
+ 2247
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1557
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1557,
164
+ 1994
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1994,
190
+ 2247
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000120.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2769,
6
- "valid_duration": [0, 2769]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 634],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [828, 2141],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [2142, 2616],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2616, 2769],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 2141],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [2142, 2616],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2616, 2769],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2769,
6
+ "valid_duration": [
7
+ 0,
8
+ 2769
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 634
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 828,
56
+ 2141
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 2142,
82
+ 2616
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2616,
109
+ 2769
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 2141
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 2142,
164
+ 2616
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2616,
190
+ 2769
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000130.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2157,
6
- "valid_duration": [0, 2157]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 546],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [906, 1354],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1479, 1800],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1800, 2157],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1354],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1479, 1800],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1800, 2157],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2157,
6
+ "valid_duration": [
7
+ 0,
8
+ 2157
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 546
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 906,
56
+ 1354
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1479,
82
+ 1800
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1800,
109
+ 2157
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1354
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1479,
164
+ 1800
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1800,
190
+ 2157
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000140.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1985,
6
- "valid_duration": [6, 1991]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [6, 1033],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [1034, 1601],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1601, 1802],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1803, 1991],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [6, 1601],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1601, 1802],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1803, 1991],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1985,
6
+ "valid_duration": [
7
+ 6,
8
+ 1991
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 6,
29
+ 1033
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1034,
56
+ 1601
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1601,
82
+ 1802
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1803,
109
+ 1991
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 6,
138
+ 1601
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1601,
164
+ 1802
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1803,
190
+ 1991
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000160.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2604,
6
- "valid_duration": [0, 2604]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 702],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [702, 2003],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [2003, 2405],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2405, 2604],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 2003],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [2003, 2405],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2405, 2604],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2604,
6
+ "valid_duration": [
7
+ 0,
8
+ 2604
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 702
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 702,
56
+ 2003
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 2003,
82
+ 2405
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2405,
109
+ 2604
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 2003
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 2003,
164
+ 2405
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2405,
190
+ 2604
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000170.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2375,
6
- "valid_duration": [0, 2375]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 426],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [456, 1527],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1527, 1967],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1967, 2375],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1527],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1527, 1967],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1967, 2375],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2375,
6
+ "valid_duration": [
7
+ 0,
8
+ 2375
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 426
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 456,
56
+ 1527
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1527,
82
+ 1967
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1967,
109
+ 2375
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1527
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1527,
164
+ 1967
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1967,
190
+ 2375
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000180.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1860,
6
- "valid_duration": [0, 1860]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 521],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [567, 1354],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1355, 1679],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1679, 1860],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1354],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1355, 1679],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1679, 1860],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1860,
6
+ "valid_duration": [
7
+ 0,
8
+ 1860
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 521
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 567,
56
+ 1354
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1355,
82
+ 1679
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1679,
109
+ 1860
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1354
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1355,
164
+ 1679
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1679,
190
+ 1860
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000190.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2190,
6
- "valid_duration": [0, 2190]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 424],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [424, 1413],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1413, 1902],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1902, 2190],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1413],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1413, 1902],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1902, 2190],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2190,
6
+ "valid_duration": [
7
+ 0,
8
+ 2190
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 424
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 424,
56
+ 1413
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1413,
82
+ 1902
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1902,
109
+ 2190
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1413
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1413,
164
+ 1902
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1902,
190
+ 2190
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000200.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2399,
6
- "valid_duration": [0, 2399]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 530],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [531, 1992],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1992, 2257],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2257, 2399],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1992],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1992, 2257],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2257, 2399],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2399,
6
+ "valid_duration": [
7
+ 0,
8
+ 2399
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 530
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 531,
56
+ 1992
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1992,
82
+ 2257
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2257,
109
+ 2399
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1992
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1992,
164
+ 2257
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2257,
190
+ 2399
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000210.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1774,
6
- "valid_duration": [0, 1774]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 682],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [682, 1294],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1294, 1477],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1478, 1774],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1294],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1294, 1477],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1478, 1774],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1774,
6
+ "valid_duration": [
7
+ 0,
8
+ 1774
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 682
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 682,
56
+ 1294
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1294,
82
+ 1477
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1478,
109
+ 1774
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1294
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1294,
164
+ 1477
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1478,
190
+ 1774
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000220.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2353,
6
- "valid_duration": [24, 2377]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [24, 816],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [816, 1712],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1712, 2071],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2072, 2377],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [24, 1712],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1712, 2071],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2072, 2377],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2353,
6
+ "valid_duration": [
7
+ 24,
8
+ 2377
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 24,
29
+ 816
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 816,
56
+ 1712
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1712,
82
+ 2071
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2072,
109
+ 2377
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 24,
138
+ 1712
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1712,
164
+ 2071
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2072,
190
+ 2377
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000230.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1896,
6
- "valid_duration": [0, 1896]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 538],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [538, 1348],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1348, 1621],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1621, 1896],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1348],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1348, 1621],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1621, 1896],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1896,
6
+ "valid_duration": [
7
+ 0,
8
+ 1896
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 538
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 538,
56
+ 1348
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1348,
82
+ 1621
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1621,
109
+ 1896
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1348
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1348,
164
+ 1621
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1621,
190
+ 1896
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000240.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1882,
6
- "valid_duration": [0, 1882]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 404],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [404, 1068],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1068, 1552],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1552, 1882],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1068],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1068, 1552],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1552, 1882],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1882,
6
+ "valid_duration": [
7
+ 0,
8
+ 1882
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 404
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 404,
56
+ 1068
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1068,
82
+ 1552
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1552,
109
+ 1882
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1068
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1068,
164
+ 1552
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1552,
190
+ 1882
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000250.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2454,
6
- "valid_duration": [0, 2454]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 848],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [848, 1840],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1855, 2184],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2184, 2454],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1840],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1855, 2184],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2184, 2454],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2454,
6
+ "valid_duration": [
7
+ 0,
8
+ 2454
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 848
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 848,
56
+ 1840
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1855,
82
+ 2184
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2184,
109
+ 2454
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1840
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1855,
164
+ 2184
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2184,
190
+ 2454
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000260.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2133,
6
- "valid_duration": [0, 2133]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 833],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [839, 1496],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1496, 1868],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1868, 2133],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1496],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1496, 1868],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1868, 2133],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2133,
6
+ "valid_duration": [
7
+ 0,
8
+ 2133
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 833
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 839,
56
+ 1496
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1496,
82
+ 1868
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1868,
109
+ 2133
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1496
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1496,
164
+ 1868
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1868,
190
+ 2133
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000270.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1785,
6
- "valid_duration": [0, 1785]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 525],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [525, 1197],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1197, 1417],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1417, 1785],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1197],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1197, 1417],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1417, 1785],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1785,
6
+ "valid_duration": [
7
+ 0,
8
+ 1785
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 525
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 525,
56
+ 1197
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1197,
82
+ 1417
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1417,
109
+ 1785
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1197
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1197,
164
+ 1417
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1417,
190
+ 1785
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000280.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2175,
6
- "valid_duration": [0, 2175]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 710],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [710, 1436],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1436, 1786],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1786, 2175],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1436],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1436, 1786],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1786, 2175],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2175,
6
+ "valid_duration": [
7
+ 0,
8
+ 2175
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 710
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 710,
56
+ 1436
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1436,
82
+ 1786
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1786,
109
+ 2175
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1436
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1436,
164
+ 1786
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1786,
190
+ 2175
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000290.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1860,
6
- "valid_duration": [0, 1860]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 789],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [789, 1257],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1257, 1564],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1564, 1860],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1257],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1257, 1564],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1564, 1860],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1860,
6
+ "valid_duration": [
7
+ 0,
8
+ 1860
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 789
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 789,
56
+ 1257
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1257,
82
+ 1564
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1564,
109
+ 1860
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1257
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1257,
164
+ 1564
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1564,
190
+ 1860
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000300.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1696,
6
- "valid_duration": [0, 1696]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 306],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [306, 1165],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1165, 1464],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1465, 1696],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1165],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1165, 1464],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1465, 1696],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1696,
6
+ "valid_duration": [
7
+ 0,
8
+ 1696
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 306
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 306,
56
+ 1165
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1165,
82
+ 1464
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1465,
109
+ 1696
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1165
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1165,
164
+ 1464
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1465,
190
+ 1696
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000310.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2545,
6
- "valid_duration": [0, 2545]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 789],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [789, 1729],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1729, 2094],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2094, 2545],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1729],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1729, 2094],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2094, 2545],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2545,
6
+ "valid_duration": [
7
+ 0,
8
+ 2545
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 789
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 789,
56
+ 1729
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1729,
82
+ 2094
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2094,
109
+ 2545
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1729
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1729,
164
+ 2094
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2094,
190
+ 2545
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000320.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2565,
6
- "valid_duration": [0, 2565]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 779],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [850, 2052],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [2052, 2261],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2261, 2565],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 2052],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [2052, 2261],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2261, 2565],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2565,
6
+ "valid_duration": [
7
+ 0,
8
+ 2565
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 779
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 850,
56
+ 2052
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 2052,
82
+ 2261
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2261,
109
+ 2565
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 2052
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 2052,
164
+ 2261
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2261,
190
+ 2565
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000330.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1977,
6
- "valid_duration": [0, 1977]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 387],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [387, 1313],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1314, 1580],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1580, 1977],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1313],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1314, 1580],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1580, 1977],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1977,
6
+ "valid_duration": [
7
+ 0,
8
+ 1977
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 387
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 387,
56
+ 1313
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1314,
82
+ 1580
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1580,
109
+ 1977
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1313
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1314,
164
+ 1580
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1580,
190
+ 1977
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000340.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1608,
6
- "valid_duration": [0, 1608]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 371],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [371, 1036],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1036, 1280],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1280, 1608],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1036],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1036, 1280],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1280, 1608],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1608,
6
+ "valid_duration": [
7
+ 0,
8
+ 1608
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 371
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 371,
56
+ 1036
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1036,
82
+ 1280
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1280,
109
+ 1608
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1036
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1036,
164
+ 1280
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1280,
190
+ 1608
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000350.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1782,
6
- "valid_duration": [15, 1797]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [15, 351],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [601, 1153],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1154, 1492],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1492, 1797],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [15, 1153],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1154, 1492],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1492, 1797],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1782,
6
+ "valid_duration": [
7
+ 15,
8
+ 1797
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 15,
29
+ 351
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 601,
56
+ 1153
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1154,
82
+ 1492
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1492,
109
+ 1797
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 15,
138
+ 1153
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1154,
164
+ 1492
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1492,
190
+ 1797
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000360.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2514,
6
- "valid_duration": [0, 2514]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 699],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [741, 1654],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1654, 2057],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2057, 2514],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1654],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1654, 2057],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2057, 2514],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2514,
6
+ "valid_duration": [
7
+ 0,
8
+ 2514
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 699
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 741,
56
+ 1654
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1654,
82
+ 2057
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2057,
109
+ 2514
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1654
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1654,
164
+ 2057
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2057,
190
+ 2514
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000370.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1554,
6
- "valid_duration": [0, 1554]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 267],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [297, 856],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [856, 1094],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1094, 1554],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 856],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [856, 1094],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1094, 1554],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1554,
6
+ "valid_duration": [
7
+ 0,
8
+ 1554
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 267
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 297,
56
+ 856
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 856,
82
+ 1094
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1094,
109
+ 1554
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 856
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 856,
164
+ 1094
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1094,
190
+ 1554
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000380.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1696,
6
- "valid_duration": [0, 1696]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 430],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [431, 1010],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1010, 1293],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1293, 1696],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1010],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1010, 1293],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1293, 1696],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1696,
6
+ "valid_duration": [
7
+ 0,
8
+ 1696
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 430
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 431,
56
+ 1010
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1010,
82
+ 1293
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1293,
109
+ 1696
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1010
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1010,
164
+ 1293
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1293,
190
+ 1696
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000390.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2160,
6
- "valid_duration": [0, 2160]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 656],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [656, 1649],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1649, 1902],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1903, 2160],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1649],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1649, 1902],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1903, 2160],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2160,
6
+ "valid_duration": [
7
+ 0,
8
+ 2160
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 656
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 656,
56
+ 1649
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1649,
82
+ 1902
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1903,
109
+ 2160
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1649
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1649,
164
+ 1902
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1903,
190
+ 2160
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000400.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2164,
6
- "valid_duration": [0, 2164]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 798],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [798, 1546],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1546, 1762],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1762, 2164],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1546],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1546, 1762],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1762, 2164],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2164,
6
+ "valid_duration": [
7
+ 0,
8
+ 2164
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 798
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 798,
56
+ 1546
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1546,
82
+ 1762
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1762,
109
+ 2164
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1546
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1546,
164
+ 1762
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1762,
190
+ 2164
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000410.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1898,
6
- "valid_duration": [0, 1898]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 813],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [813, 1482],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1482, 1651],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1651, 1898],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1482],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1482, 1651],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1651, 1898],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1898,
6
+ "valid_duration": [
7
+ 0,
8
+ 1898
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 813
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 813,
56
+ 1482
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1482,
82
+ 1651
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1651,
109
+ 1898
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1482
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1482,
164
+ 1651
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1651,
190
+ 1898
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000420.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2162,
6
- "valid_duration": [0, 2162]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 649],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [649, 1521],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1522, 1852],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1853, 2162],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1521],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1522, 1852],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1853, 2162],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2162,
6
+ "valid_duration": [
7
+ 0,
8
+ 2162
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 649
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 649,
56
+ 1521
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1522,
82
+ 1852
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1853,
109
+ 2162
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1521
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1522,
164
+ 1852
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1853,
190
+ 2162
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000430.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2121,
6
- "valid_duration": [0, 2121]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 629],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [630, 1513],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1513, 1719],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1719, 2121],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1513],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1513, 1719],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1719, 2121],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2121,
6
+ "valid_duration": [
7
+ 0,
8
+ 2121
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 629
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 630,
56
+ 1513
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1513,
82
+ 1719
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1719,
109
+ 2121
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1513
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1513,
164
+ 1719
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1719,
190
+ 2121
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000440.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2181,
6
- "valid_duration": [0, 2181]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 440],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [440, 1465],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1466, 1698],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1699, 2181],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1465],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1466, 1698],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1699, 2181],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2181,
6
+ "valid_duration": [
7
+ 0,
8
+ 2181
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 440
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 440,
56
+ 1465
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1466,
82
+ 1698
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1699,
109
+ 2181
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1465
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1466,
164
+ 1698
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1699,
190
+ 2181
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000450.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1470,
6
- "valid_duration": [30, 1500]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [30, 398],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [399, 1017],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1018, 1240],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1240, 1500],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [30, 1017],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1018, 1240],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1240, 1500],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1470,
6
+ "valid_duration": [
7
+ 30,
8
+ 1500
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 398
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 399,
56
+ 1017
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1018,
82
+ 1240
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1240,
109
+ 1500
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 30,
138
+ 1017
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1018,
164
+ 1240
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1240,
190
+ 1500
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000460.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2497,
6
- "valid_duration": [0, 2497]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 766],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [1186, 1732],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1732, 2082],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2082, 2497],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1732],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1732, 2082],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2082, 2497],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2497,
6
+ "valid_duration": [
7
+ 0,
8
+ 2497
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 766
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1186,
56
+ 1732
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1732,
82
+ 2082
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2082,
109
+ 2497
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1732
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1732,
164
+ 2082
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2082,
190
+ 2497
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000470.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2461,
6
- "valid_duration": [0, 2461]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 996],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [997, 1830],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1830, 2111],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2111, 2461],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1830],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1830, 2111],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2111, 2461],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2461,
6
+ "valid_duration": [
7
+ 0,
8
+ 2461
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 996
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 997,
56
+ 1830
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1830,
82
+ 2111
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2111,
109
+ 2461
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1830
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1830,
164
+ 2111
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2111,
190
+ 2461
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000480.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2052,
6
- "valid_duration": [0, 2052]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 784],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [784, 1512],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1512, 1742],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1743, 2052],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1512],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1512, 1742],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1743, 2052],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2052,
6
+ "valid_duration": [
7
+ 0,
8
+ 2052
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 784
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 784,
56
+ 1512
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1512,
82
+ 1742
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1743,
109
+ 2052
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1512
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1512,
164
+ 1742
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1743,
190
+ 2052
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000490.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2604,
6
- "valid_duration": [0, 2604]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 1065],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [1109, 1882],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1882, 2225],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2226, 2604],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1882],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1882, 2225],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2226, 2604],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2604,
6
+ "valid_duration": [
7
+ 0,
8
+ 2604
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 1065
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 1109,
56
+ 1882
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1882,
82
+ 2225
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2226,
109
+ 2604
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1882
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1882,
164
+ 2225
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2226,
190
+ 2604
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000500.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1908,
6
- "valid_duration": [0, 1908]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 452],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [452, 1211],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1211, 1495],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1495, 1908],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1211],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1211, 1495],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1495, 1908],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 1908,
6
+ "valid_duration": [
7
+ 0,
8
+ 1908
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 452
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 452,
56
+ 1211
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1211,
82
+ 1495
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1495,
109
+ 1908
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1211
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1211,
164
+ 1495
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1495,
190
+ 1908
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000510.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2266,
6
- "valid_duration": [0, 2266]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [0, 563],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [563, 1640],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1640, 1875],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [1875, 2266],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [0, 1640],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1640, 1875],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [1875, 2266],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2266,
6
+ "valid_duration": [
7
+ 0,
8
+ 2266
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 563
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 563,
56
+ 1640
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1640,
82
+ 1875
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 1875,
109
+ 2266
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 0,
138
+ 1640
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1640,
164
+ 1875
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 1875,
190
+ 2266
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }
annotations/task-0000/episode_00000520.json CHANGED
@@ -3,91 +3,195 @@
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2511,
6
- "valid_duration": [30, 2541]
 
 
 
7
  },
8
  "skill_annotation": [
9
  {
10
  "skill_idx": 0,
11
- "skill_id": [1],
12
- "skill_description": ["move to"],
13
- "object_id": [["radio_89"]],
 
 
 
 
 
 
 
 
14
  "manipulating_object_id": [],
15
- "memory_prefix": [],
16
  "spatial_prefix": [],
17
- "frame_duration": [30, 969],
 
 
 
18
  "mp_ef": [],
19
- "skill_type": ["navigation"]
 
 
20
  },
21
  {
22
  "skill_idx": 1,
23
- "skill_id": [2],
24
- "skill_description": ["pick up from"],
25
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
26
- "manipulating_object_id": ["radio_89"],
27
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
28
  "spatial_prefix": [],
29
- "frame_duration": [969, 1832],
 
 
 
30
  "mp_ef": [],
31
- "skill_type": ["uncoordinated"]
 
 
32
  },
33
  {
34
  "skill_idx": 2,
35
- "skill_id": [67],
36
- "skill_description": ["press"],
37
- "object_id": [["radio_89"]],
38
- "manipulating_object_id": ["radio_89"],
39
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
40
  "spatial_prefix": [],
41
- "frame_duration": [1832, 2135],
 
 
 
42
  "mp_ef": [],
43
- "skill_type": ["coordinated"]
 
 
44
  },
45
  {
46
  "skill_idx": 3,
47
- "skill_id": [3],
48
- "skill_description": ["place on"],
49
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
50
- "manipulating_object_id": ["radio_89"],
51
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
52
  "spatial_prefix": [],
53
- "frame_duration": [2135, 2541],
 
 
 
54
  "mp_ef": [],
55
- "skill_type": ["uncoordinated"]
 
 
56
  }
57
  ],
58
  "primitive_annotation": [
59
  {
60
  "primitive_idx": 0,
61
- "primitive_id": [2],
62
- "primitive_description": ["pick up from"],
63
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
64
- "manipulating_object_id": ["radio_89"],
65
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
 
66
  "spatial_prefix": [],
67
- "frame_duration": [30, 1832],
68
- "skill_idxes": [0, 1]
 
 
 
 
 
 
69
  },
70
  {
71
  "primitive_idx": 1,
72
- "primitive_id": [67],
73
- "primitive_description": ["press"],
74
- "object_id": [["radio_89"]],
75
- "manipulating_object_id": ["radio_89"],
76
- "memory_prefix": [],
 
 
 
 
 
 
 
 
 
77
  "spatial_prefix": [],
78
- "frame_duration": [1832, 2135],
79
- "skill_idxes": [2]
 
 
 
 
 
80
  },
81
  {
82
  "primitive_idx": 2,
83
- "primitive_id": [3],
84
- "primitive_description": ["place on"],
85
- "object_id": [["radio_89", "coffee_table_koagbh_0"]],
86
- "manipulating_object_id": ["radio_89"],
87
- "memory_prefix": ["back"],
 
 
 
 
 
 
 
 
 
 
88
  "spatial_prefix": [],
89
- "frame_duration": [2135, 2541],
90
- "skill_idxes": [3]
 
 
 
 
 
91
  }
92
  ]
93
  }
 
3
  "data_folder": "",
4
  "meta_data": {
5
  "task_duration": 2511,
6
+ "valid_duration": [
7
+ 30,
8
+ 2541
9
+ ]
10
  },
11
  "skill_annotation": [
12
  {
13
  "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "radio_89"
23
+ ]
24
+ ],
25
  "manipulating_object_id": [],
 
26
  "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 969
30
+ ],
31
  "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
  },
36
  {
37
  "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "radio_89",
47
+ "coffee_table_koagbh_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "radio_89"
52
+ ],
53
  "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 969,
56
+ 1832
57
+ ],
58
  "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
  },
63
  {
64
  "skill_idx": 2,
65
+ "skill_id": [
66
+ 67
67
+ ],
68
+ "skill_description": [
69
+ "press"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "radio_89"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [
77
+ "radio_89"
78
+ ],
79
  "spatial_prefix": [],
80
+ "frame_duration": [
81
+ 1832,
82
+ 2135
83
+ ],
84
  "mp_ef": [],
85
+ "skill_type": [
86
+ "coordinated"
87
+ ]
88
  },
89
  {
90
  "skill_idx": 3,
91
+ "skill_id": [
92
+ 3
93
+ ],
94
+ "skill_description": [
95
+ "place on"
96
+ ],
97
+ "object_id": [
98
+ [
99
+ "radio_89",
100
+ "coffee_table_koagbh_0"
101
+ ]
102
+ ],
103
+ "manipulating_object_id": [
104
+ "radio_89"
105
+ ],
106
  "spatial_prefix": [],
107
+ "frame_duration": [
108
+ 2135,
109
+ 2541
110
+ ],
111
  "mp_ef": [],
112
+ "skill_type": [
113
+ "uncoordinated"
114
+ ]
115
  }
116
  ],
117
  "primitive_annotation": [
118
  {
119
  "primitive_idx": 0,
120
+ "primitive_id": [
121
+ 2
122
+ ],
123
+ "primitive_description": [
124
+ "pick up from"
125
+ ],
126
+ "object_id": [
127
+ [
128
+ "radio_89",
129
+ "coffee_table_koagbh_0"
130
+ ]
131
+ ],
132
+ "manipulating_object_id": [
133
+ "radio_89"
134
+ ],
135
  "spatial_prefix": [],
136
+ "frame_duration": [
137
+ 30,
138
+ 1832
139
+ ],
140
+ "skill_idxes": [
141
+ 0,
142
+ 1
143
+ ]
144
  },
145
  {
146
  "primitive_idx": 1,
147
+ "primitive_id": [
148
+ 67
149
+ ],
150
+ "primitive_description": [
151
+ "press"
152
+ ],
153
+ "object_id": [
154
+ [
155
+ "radio_89"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "radio_89"
160
+ ],
161
  "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 1832,
164
+ 2135
165
+ ],
166
+ "skill_idxes": [
167
+ 2
168
+ ]
169
  },
170
  {
171
  "primitive_idx": 2,
172
+ "primitive_id": [
173
+ 3
174
+ ],
175
+ "primitive_description": [
176
+ "place on"
177
+ ],
178
+ "object_id": [
179
+ [
180
+ "radio_89",
181
+ "coffee_table_koagbh_0"
182
+ ]
183
+ ],
184
+ "manipulating_object_id": [
185
+ "radio_89"
186
+ ],
187
  "spatial_prefix": [],
188
+ "frame_duration": [
189
+ 2135,
190
+ 2541
191
+ ],
192
+ "skill_idxes": [
193
+ 3
194
+ ]
195
  }
196
  ]
197
  }