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- annotations/task-0001/episode_00010020.json +211 -0
- annotations/task-0001/episode_00010140.json +211 -0
- annotations/task-0001/episode_00010230.json +211 -0
- annotations/task-0001/episode_00010320.json +211 -0
- annotations/task-0001/episode_00010970.json +211 -0
- annotations/task-0001/episode_00011170.json +211 -0
- annotations/task-0001/episode_00011200.json +211 -0
- annotations/task-0001/episode_00012030.json +211 -0
- annotations/task-0001/episode_00012150.json +211 -0
- annotations/task-0001/episode_00012250.json +211 -0
- annotations/task-0001/episode_00012760.json +211 -0
- annotations/task-0001/episode_00012800.json +211 -0
- annotations/task-0001/episode_00012870.json +211 -0
- annotations/task-0005/episode_00050200.json +178 -0
- annotations/task-0005/episode_00050430.json +178 -0
- annotations/task-0005/episode_00050780.json +178 -0
- annotations/task-0005/episode_00051610.json +178 -0
- annotations/task-0005/episode_00052640.json +178 -0
- annotations/task-0005/episode_00052720.json +178 -0
- annotations/task-0016/episode_00160010.json +165 -0
- annotations/task-0016/episode_00160020.json +165 -0
- annotations/task-0016/episode_00160030.json +165 -0
- annotations/task-0016/episode_00160040.json +165 -0
- annotations/task-0016/episode_00160050.json +165 -0
- annotations/task-0016/episode_00160060.json +165 -0
- annotations/task-0016/episode_00160070.json +165 -0
- annotations/task-0016/episode_00160080.json +165 -0
- annotations/task-0016/episode_00160090.json +165 -0
- annotations/task-0016/episode_00160100.json +165 -0
- annotations/task-0016/episode_00160120.json +165 -0
- annotations/task-0016/episode_00160130.json +165 -0
- annotations/task-0016/episode_00160140.json +165 -0
- annotations/task-0016/episode_00160150.json +165 -0
- annotations/task-0016/episode_00160160.json +165 -0
- annotations/task-0016/episode_00160180.json +165 -0
- annotations/task-0016/episode_00160190.json +165 -0
- annotations/task-0016/episode_00160200.json +165 -0
- annotations/task-0016/episode_00160210.json +165 -0
- annotations/task-0016/episode_00160220.json +165 -0
- annotations/task-0016/episode_00160230.json +165 -0
- annotations/task-0016/episode_00160240.json +165 -0
- annotations/task-0016/episode_00160260.json +165 -0
- annotations/task-0016/episode_00160270.json +165 -0
- annotations/task-0016/episode_00160280.json +165 -0
- annotations/task-0016/episode_00160290.json +165 -0
- annotations/task-0016/episode_00160300.json +165 -0
- annotations/task-0016/episode_00160310.json +165 -0
- annotations/task-0016/episode_00160320.json +165 -0
- annotations/task-0016/episode_00160330.json +165 -0
- annotations/task-0016/episode_00160340.json +165 -0
annotations/task-0001/episode_00010020.json
ADDED
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{
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"task_name": "picking up trash",
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"data_folder": "",
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"meta_data": {
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"task_duration": 2643,
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"skill_annotation": [
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{
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{
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"primitive_description": ["pick up from", "place in"],
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{
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"primitive_description": ["pick up from", "place in"],
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193 |
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{
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"primitive_description": ["place on"],
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"manipulating_object_id": ["trash_can_116"],
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"frame_duration": [2502, 2643],
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"skill_idxes": [11]
|
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}
|
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]
|
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}
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annotations/task-0001/episode_00010140.json
ADDED
@@ -0,0 +1,211 @@
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|
209 |
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|
210 |
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|
211 |
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}
|
annotations/task-0001/episode_00010230.json
ADDED
@@ -0,0 +1,211 @@
|
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|
1 |
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{
|
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|
3 |
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|
4 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
209 |
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|
210 |
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|
211 |
+
}
|
annotations/task-0001/episode_00010320.json
ADDED
@@ -0,0 +1,211 @@
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1 |
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{
|
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|
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|
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|
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208 |
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"skill_idxes": [11]
|
209 |
+
}
|
210 |
+
]
|
211 |
+
}
|
annotations/task-0001/episode_00010970.json
ADDED
@@ -0,0 +1,211 @@
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|
1 |
+
{
|
2 |
+
"task_name": "picking up trash",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
+
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|
6 |
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|
7 |
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|
8 |
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|
9 |
+
{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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45 |
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|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
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|
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|
84 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
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|
110 |
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|
111 |
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112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
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129 |
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{
|
130 |
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|
131 |
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132 |
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133 |
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135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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|
142 |
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|
143 |
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|
144 |
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145 |
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146 |
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147 |
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|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
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|
153 |
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|
154 |
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|
155 |
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{
|
156 |
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|
157 |
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158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
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|
163 |
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|
164 |
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|
165 |
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},
|
166 |
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{
|
167 |
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|
168 |
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|
169 |
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|
170 |
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|
171 |
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|
172 |
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|
173 |
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|
174 |
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|
175 |
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|
176 |
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|
177 |
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{
|
178 |
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|
179 |
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|
180 |
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"primitive_description": ["pick up from", "place in"],
|
181 |
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|
182 |
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|
183 |
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|
184 |
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|
185 |
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|
186 |
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|
187 |
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|
188 |
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{
|
189 |
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|
190 |
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|
191 |
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|
192 |
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|
193 |
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|
194 |
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|
195 |
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|
196 |
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|
197 |
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|
198 |
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|
199 |
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{
|
200 |
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|
201 |
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|
202 |
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|
203 |
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|
204 |
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|
205 |
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|
206 |
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|
207 |
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|
208 |
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"skill_idxes": [11]
|
209 |
+
}
|
210 |
+
]
|
211 |
+
}
|
annotations/task-0001/episode_00011170.json
ADDED
@@ -0,0 +1,211 @@
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|
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|
|
|
|
1 |
+
{
|
2 |
+
"task_name": "picking up trash",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
+
"task_duration": 6825,
|
6 |
+
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|
7 |
+
},
|
8 |
+
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|
9 |
+
{
|
10 |
+
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
+
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|
35 |
+
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
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|
200 |
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|
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|
208 |
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|
209 |
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|
210 |
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|
211 |
+
}
|
annotations/task-0001/episode_00011200.json
ADDED
@@ -0,0 +1,211 @@
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1 |
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{
|
2 |
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|
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|
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|
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155 |
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{
|
156 |
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|
157 |
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|
158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
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|
163 |
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|
164 |
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|
165 |
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},
|
166 |
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{
|
167 |
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|
168 |
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|
169 |
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|
170 |
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|
171 |
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|
172 |
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|
173 |
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|
174 |
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"frame_duration": [1320, 3300],
|
175 |
+
"skill_idxes": [2, 3, 4]
|
176 |
+
},
|
177 |
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{
|
178 |
+
"primitive_idx": 2,
|
179 |
+
"primitive_id": [2, 4],
|
180 |
+
"primitive_description": ["pick up from", "place in"],
|
181 |
+
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|
182 |
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|
183 |
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|
184 |
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|
185 |
+
"frame_duration": [3330, 4278],
|
186 |
+
"skill_idxes": [5, 6, 7]
|
187 |
+
},
|
188 |
+
{
|
189 |
+
"primitive_idx": 3,
|
190 |
+
"primitive_id": [2, 4],
|
191 |
+
"primitive_description": ["pick up from", "place in"],
|
192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
193 |
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|
194 |
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|
195 |
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|
196 |
+
"frame_duration": [4380, 5670],
|
197 |
+
"skill_idxes": [8, 9, 10]
|
198 |
+
},
|
199 |
+
{
|
200 |
+
"primitive_idx": 4,
|
201 |
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"primitive_id": [3],
|
202 |
+
"primitive_description": ["place on"],
|
203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
204 |
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"manipulating_object_id": ["trash_can_116"],
|
205 |
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"memory_prefix": [],
|
206 |
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"spatial_prefix": [],
|
207 |
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"frame_duration": [5700, 6120],
|
208 |
+
"skill_idxes": [11]
|
209 |
+
}
|
210 |
+
]
|
211 |
+
}
|
annotations/task-0001/episode_00012030.json
ADDED
@@ -0,0 +1,211 @@
|
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|
1 |
+
{
|
2 |
+
"task_name": "picking up trash",
|
3 |
+
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|
4 |
+
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
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|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
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|
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|
42 |
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|
43 |
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44 |
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|
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|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
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|
129 |
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{
|
130 |
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|
131 |
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|
132 |
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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{
|
142 |
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|
143 |
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|
144 |
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|
145 |
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|
146 |
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|
147 |
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|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
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|
153 |
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|
154 |
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|
155 |
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|
156 |
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|
157 |
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|
158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
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|
163 |
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|
164 |
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|
165 |
+
},
|
166 |
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{
|
167 |
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|
168 |
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|
169 |
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|
170 |
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|
171 |
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|
172 |
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|
173 |
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|
174 |
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|
175 |
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|
176 |
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|
177 |
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{
|
178 |
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|
179 |
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|
180 |
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|
181 |
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|
182 |
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|
183 |
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|
184 |
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|
185 |
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|
186 |
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|
187 |
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|
188 |
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{
|
189 |
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"primitive_idx": 3,
|
190 |
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|
191 |
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|
192 |
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|
193 |
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|
194 |
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|
195 |
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|
196 |
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|
197 |
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|
198 |
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},
|
199 |
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{
|
200 |
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|
201 |
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|
202 |
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"primitive_description": ["place on"],
|
203 |
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|
204 |
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|
205 |
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|
206 |
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|
207 |
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"frame_duration": [3962, 4163],
|
208 |
+
"skill_idxes": [11]
|
209 |
+
}
|
210 |
+
]
|
211 |
+
}
|
annotations/task-0001/episode_00012150.json
ADDED
@@ -0,0 +1,211 @@
|
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|
1 |
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|
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|
3 |
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|
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|
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|
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|
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|
208 |
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|
209 |
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|
210 |
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]
|
211 |
+
}
|
annotations/task-0001/episode_00012250.json
ADDED
@@ -0,0 +1,211 @@
|
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|
1 |
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{
|
2 |
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
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|
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|
10 |
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|
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|
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|
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|
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|
92 |
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|
93 |
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|
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|
200 |
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|
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|
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|
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|
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|
209 |
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|
210 |
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|
211 |
+
}
|
annotations/task-0001/episode_00012760.json
ADDED
@@ -0,0 +1,211 @@
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{
|
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|
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|
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|
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|
194 |
+
"memory_prefix": ["the other", ""],
|
195 |
+
"spatial_prefix": [],
|
196 |
+
"frame_duration": [3868, 4848],
|
197 |
+
"skill_idxes": [8, 9, 10]
|
198 |
+
},
|
199 |
+
{
|
200 |
+
"primitive_idx": 4,
|
201 |
+
"primitive_id": [3],
|
202 |
+
"primitive_description": ["place on"],
|
203 |
+
"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
204 |
+
"manipulating_object_id": ["trash_can_116"],
|
205 |
+
"memory_prefix": [],
|
206 |
+
"spatial_prefix": [],
|
207 |
+
"frame_duration": [4848, 5330],
|
208 |
+
"skill_idxes": [11]
|
209 |
+
}
|
210 |
+
]
|
211 |
+
}
|
annotations/task-0001/episode_00012800.json
ADDED
@@ -0,0 +1,211 @@
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"task_name": "picking up trash",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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"skill_id": [2],
|
24 |
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"skill_description": ["pick up from"],
|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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"frame_duration": [1518, 1791],
|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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"skill_idx": 4,
|
59 |
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|
60 |
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"skill_description": ["place in"],
|
61 |
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|
62 |
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|
63 |
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|
64 |
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"spatial_prefix": [],
|
65 |
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"frame_duration": [1791, 2000],
|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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"skill_id": [1],
|
72 |
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"skill_description": ["move to"],
|
73 |
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|
74 |
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|
75 |
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"memory_prefix": ["the other"],
|
76 |
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|
77 |
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"frame_duration": [2000, 2085],
|
78 |
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|
79 |
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"skill_type": ["navigation"]
|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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"memory_prefix": ["the other"],
|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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|
123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
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|
129 |
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{
|
130 |
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|
131 |
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|
132 |
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|
133 |
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134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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{
|
142 |
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|
143 |
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|
144 |
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|
145 |
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|
146 |
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|
147 |
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|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
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|
153 |
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],
|
154 |
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|
155 |
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{
|
156 |
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|
157 |
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|
158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
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|
163 |
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|
164 |
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|
165 |
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},
|
166 |
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{
|
167 |
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|
168 |
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|
169 |
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|
170 |
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|
171 |
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|
172 |
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|
173 |
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"spatial_prefix": [],
|
174 |
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"frame_duration": [1212, 2000],
|
175 |
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|
176 |
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},
|
177 |
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{
|
178 |
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|
179 |
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|
180 |
+
"primitive_description": ["pick up from", "place in"],
|
181 |
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|
182 |
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|
183 |
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|
184 |
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|
185 |
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"frame_duration": [2000, 2504],
|
186 |
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"skill_idxes": [5, 6, 7]
|
187 |
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},
|
188 |
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{
|
189 |
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"primitive_idx": 3,
|
190 |
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|
191 |
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|
192 |
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"object_id": [["can_of_soda_113", "floors_ulujpr_0"], ["can_of_soda_113", "trash_can_116"]],
|
193 |
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|
194 |
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|
195 |
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|
196 |
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"frame_duration": [2504, 3105],
|
197 |
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"skill_idxes": [8, 9, 10]
|
198 |
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},
|
199 |
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{
|
200 |
+
"primitive_idx": 4,
|
201 |
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"primitive_id": [3],
|
202 |
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"primitive_description": ["place on"],
|
203 |
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"object_id": [["trash_can_116", "floors_ulujpr_0"]],
|
204 |
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"manipulating_object_id": ["trash_can_116"],
|
205 |
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|
206 |
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"spatial_prefix": [],
|
207 |
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"frame_duration": [3105, 3402],
|
208 |
+
"skill_idxes": [11]
|
209 |
+
}
|
210 |
+
]
|
211 |
+
}
|
annotations/task-0001/episode_00012870.json
ADDED
@@ -0,0 +1,211 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"task_name": "picking up trash",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
+
"task_duration": 3048,
|
6 |
+
"valid_duration": [156, 3204]
|
7 |
+
},
|
8 |
+
"skill_annotation": [
|
9 |
+
{
|
10 |
+
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|
11 |
+
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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},
|
21 |
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{
|
22 |
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|
23 |
+
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|
24 |
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|
25 |
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|
26 |
+
"manipulating_object_id": ["trash_can_116"],
|
27 |
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|
28 |
+
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|
29 |
+
"frame_duration": [419, 954],
|
30 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
186 |
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|
187 |
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|
188 |
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|
189 |
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|
190 |
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|
191 |
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|
192 |
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|
193 |
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|
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|
195 |
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|
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|
197 |
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|
198 |
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|
199 |
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|
200 |
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|
201 |
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|
202 |
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|
203 |
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|
204 |
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|
207 |
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|
208 |
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|
209 |
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}
|
210 |
+
]
|
211 |
+
}
|
annotations/task-0005/episode_00050200.json
ADDED
@@ -0,0 +1,178 @@
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|
1 |
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{
|
2 |
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|
3 |
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|
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|
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|
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|
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|
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145 |
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"object_id": [["mousetrap_50", "floors_tfuahz_0", "toilet_udiezm_0"]],
|
146 |
+
"manipulating_object_id": ["mousetrap_50"],
|
147 |
+
"memory_prefix": [],
|
148 |
+
"spatial_prefix": [["", "", "under"]],
|
149 |
+
"frame_duration": [9255, 9990],
|
150 |
+
"mp_ef": [],
|
151 |
+
"skill_type": ["uncoordinated"]
|
152 |
+
}
|
153 |
+
],
|
154 |
+
"primitive_annotation": [
|
155 |
+
{
|
156 |
+
"primitive_idx": 0,
|
157 |
+
"primitive_id": [2, 91],
|
158 |
+
"primitive_description": ["pick up from", "place on next to"],
|
159 |
+
"object_id": [[["mousetrap_47", "mousetrap_49"], "bottom_cabinet_jhymlr_0"], [["mousetrap_49", "mousetrap_47"], "floors_tfuahz_0", "furniture_sink_ojjqku_0"]],
|
160 |
+
"manipulating_object_id": [["mousetrap_47", "mousetrap_49"], ["mousetrap_49", "mousetrap_47"]],
|
161 |
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"memory_prefix": [],
|
162 |
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"spatial_prefix": [[], [[], [], ["under", "under"]]],
|
163 |
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"frame_duration": [0, 4383],
|
164 |
+
"skill_idxes": [0, 1, 2, 3, 4, 5]
|
165 |
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},
|
166 |
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{
|
167 |
+
"primitive_idx": 1,
|
168 |
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"primitive_id": [2, 91],
|
169 |
+
"primitive_description": ["pick up from", "place on next to"],
|
170 |
+
"object_id": [[["mousetrap_48", "mousetrap_50"], "bottom_cabinet_jhymlr_0"], [["mousetrap_48", "mousetrap_50"], "floors_tfuahz_0", "toilet_udiezm_0"]],
|
171 |
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"manipulating_object_id": [["mousetrap_48", "mousetrap_50"], ["mousetrap_48", "mousetrap_50"]],
|
172 |
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"memory_prefix": ["the other", ""],
|
173 |
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"spatial_prefix": [[], [[], [], ["under", "under"]]],
|
174 |
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"frame_duration": [4383, 9990],
|
175 |
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"skill_idxes": [6, 7, 8, 9, 10, 11]
|
176 |
+
}
|
177 |
+
]
|
178 |
+
}
|
annotations/task-0005/episode_00050430.json
ADDED
@@ -0,0 +1,178 @@
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|
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1 |
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|
2 |
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
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|
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|
10 |
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|
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|
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|
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|
15 |
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|
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|
18 |
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|
19 |
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|
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|
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|
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|
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|
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|
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|
32 |
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|
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|
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|
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|
62 |
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|
63 |
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|
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|
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|
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|
68 |
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|
70 |
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|
71 |
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|
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
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|
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|
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|
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|
83 |
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|
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|
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|
86 |
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|
87 |
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|
90 |
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|
91 |
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|
92 |
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|
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|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
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|
100 |
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104 |
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|
114 |
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128 |
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|
130 |
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|
131 |
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|
132 |
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|
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|
134 |
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135 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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|
142 |
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|
143 |
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|
144 |
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|
145 |
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|
146 |
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|
147 |
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|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
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|
153 |
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|
154 |
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|
155 |
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{
|
156 |
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|
157 |
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|
158 |
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|
159 |
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|
160 |
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"manipulating_object_id": [["mousetrap_47", "mousetrap_50"], ["mousetrap_47", "mousetrap_50"]],
|
161 |
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|
162 |
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|
163 |
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|
164 |
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|
165 |
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},
|
166 |
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{
|
167 |
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|
168 |
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|
169 |
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"primitive_description": ["pick up from", "place on next to"],
|
170 |
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|
171 |
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|
172 |
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|
173 |
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|
174 |
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|
175 |
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|
176 |
+
}
|
177 |
+
]
|
178 |
+
}
|
annotations/task-0005/episode_00050780.json
ADDED
@@ -0,0 +1,178 @@
|
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|
|
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|
|
1 |
+
{
|
2 |
+
"task_name": "setting mousetraps",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
+
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|
6 |
+
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|
7 |
+
},
|
8 |
+
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|
9 |
+
{
|
10 |
+
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|
11 |
+
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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43 |
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44 |
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|
45 |
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|
46 |
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|
47 |
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|
48 |
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|
176 |
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|
177 |
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|
178 |
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}
|
annotations/task-0005/episode_00051610.json
ADDED
@@ -0,0 +1,178 @@
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|
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}
|
177 |
+
]
|
178 |
+
}
|
annotations/task-0005/episode_00052640.json
ADDED
@@ -0,0 +1,178 @@
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|
1 |
+
{
|
2 |
+
"task_name": "setting mousetraps",
|
3 |
+
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|
4 |
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|
5 |
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|
6 |
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|
7 |
+
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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|
34 |
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|
35 |
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|
36 |
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|
37 |
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38 |
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42 |
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45 |
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|
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|
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48 |
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|
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|
50 |
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|
51 |
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|
52 |
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54 |
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|
55 |
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|
56 |
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|
57 |
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|
58 |
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|
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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77 |
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|
78 |
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|
79 |
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|
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|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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105 |
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|
106 |
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|
107 |
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|
108 |
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|
109 |
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110 |
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111 |
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|
113 |
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|
114 |
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|
116 |
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117 |
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|
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|
120 |
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|
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|
122 |
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|
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|
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126 |
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|
127 |
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|
128 |
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|
129 |
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|
130 |
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|
131 |
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|
132 |
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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{
|
142 |
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|
143 |
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|
144 |
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|
145 |
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|
146 |
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|
147 |
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|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
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|
153 |
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|
154 |
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|
155 |
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{
|
156 |
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|
157 |
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|
158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
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|
163 |
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|
164 |
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|
165 |
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},
|
166 |
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{
|
167 |
+
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|
168 |
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|
169 |
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"primitive_description": ["pick up from", "place on next to"],
|
170 |
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"object_id": [[["mousetrap_49", "mousetrap_50"], "bottom_cabinet_jhymlr_0"], [["mousetrap_50", "mousetrap_49"], "floors_tfuahz_0", "toilet_udiezm_0"]],
|
171 |
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|
172 |
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|
173 |
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|
174 |
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|
175 |
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|
176 |
+
}
|
177 |
+
]
|
178 |
+
}
|
annotations/task-0005/episode_00052720.json
ADDED
@@ -0,0 +1,178 @@
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|
1 |
+
{
|
2 |
+
"task_name": "setting mousetraps",
|
3 |
+
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|
4 |
+
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|
5 |
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|
6 |
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|
7 |
+
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|
8 |
+
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|
9 |
+
{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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|
34 |
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|
35 |
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|
36 |
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|
37 |
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38 |
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|
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|
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|
41 |
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|
42 |
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|
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|
44 |
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|
45 |
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|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
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|
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|
54 |
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|
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|
56 |
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|
57 |
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|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["mousetrap_49", "bottom_cabinet_jhymlr_0"]],
|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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"mp_ef": [],
|
103 |
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|
104 |
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},
|
105 |
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{
|
106 |
+
"skill_idx": 8,
|
107 |
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"skill_id": [2],
|
108 |
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"skill_description": ["pick up from"],
|
109 |
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"object_id": [["mousetrap_48", "bottom_cabinet_jhymlr_0"]],
|
110 |
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"manipulating_object_id": ["mousetrap_48"],
|
111 |
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"memory_prefix": ["the other"],
|
112 |
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|
113 |
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"frame_duration": [4681, 5234],
|
114 |
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|
115 |
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|
116 |
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},
|
117 |
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{
|
118 |
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|
119 |
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|
120 |
+
"skill_description": ["move to"],
|
121 |
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|
122 |
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|
123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
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},
|
129 |
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{
|
130 |
+
"skill_idx": 10,
|
131 |
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"skill_id": [91],
|
132 |
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"skill_description": ["place on next to"],
|
133 |
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"object_id": [["mousetrap_48", "floors_tfuahz_0", "toilet_udiezm_0"]],
|
134 |
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|
135 |
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|
136 |
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|
137 |
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"frame_duration": [5574, 6411],
|
138 |
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"mp_ef": [],
|
139 |
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|
140 |
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},
|
141 |
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{
|
142 |
+
"skill_idx": 11,
|
143 |
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"skill_id": [91],
|
144 |
+
"skill_description": ["place on next to"],
|
145 |
+
"object_id": [["mousetrap_49", "floors_tfuahz_0", "toilet_udiezm_0"]],
|
146 |
+
"manipulating_object_id": ["mousetrap_49"],
|
147 |
+
"memory_prefix": [],
|
148 |
+
"spatial_prefix": [["", "", "under"]],
|
149 |
+
"frame_duration": [6411, 6560],
|
150 |
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"mp_ef": [],
|
151 |
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"skill_type": ["uncoordinated"]
|
152 |
+
}
|
153 |
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],
|
154 |
+
"primitive_annotation": [
|
155 |
+
{
|
156 |
+
"primitive_idx": 0,
|
157 |
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"primitive_id": [2, 91],
|
158 |
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"primitive_description": ["pick up from", "place on next to"],
|
159 |
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"object_id": [[["mousetrap_50", "mousetrap_47"], "bottom_cabinet_jhymlr_0"], [["mousetrap_50", "mousetrap_47"], "floors_tfuahz_0", "furniture_sink_ojjqku_0"]],
|
160 |
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"manipulating_object_id": [["mousetrap_50", "mousetrap_47"], ["mousetrap_50", "mousetrap_47"]],
|
161 |
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"memory_prefix": [],
|
162 |
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"spatial_prefix": [[], [[], [], ["under", "under"]]],
|
163 |
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"frame_duration": [60, 2839],
|
164 |
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"skill_idxes": [0, 1, 2, 3, 4, 5]
|
165 |
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},
|
166 |
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{
|
167 |
+
"primitive_idx": 1,
|
168 |
+
"primitive_id": [2, 91],
|
169 |
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"primitive_description": ["pick up from", "place on next to"],
|
170 |
+
"object_id": [[["mousetrap_49", "mousetrap_48"], "bottom_cabinet_jhymlr_0"], [["mousetrap_48", "mousetrap_49"], "floors_tfuahz_0", "toilet_udiezm_0"]],
|
171 |
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"manipulating_object_id": [["mousetrap_49", "mousetrap_48"], ["mousetrap_48", "mousetrap_49"]],
|
172 |
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"memory_prefix": ["the other", ""],
|
173 |
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"spatial_prefix": [[], [[], [], ["under", "under"]]],
|
174 |
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"frame_duration": [2839, 6560],
|
175 |
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"skill_idxes": [6, 7, 8, 9, 10, 11]
|
176 |
+
}
|
177 |
+
]
|
178 |
+
}
|
annotations/task-0016/episode_00160010.json
ADDED
@@ -0,0 +1,165 @@
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
1 |
+
{
|
2 |
+
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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"skill_id": [10],
|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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"skill_idx": 5,
|
71 |
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"skill_id": [3],
|
72 |
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"skill_description": ["place on"],
|
73 |
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|
74 |
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"manipulating_object_id": ["storage_box_80"],
|
75 |
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|
76 |
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|
77 |
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"frame_duration": [6754, 7691],
|
78 |
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"mp_ef": [],
|
79 |
+
"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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"skill_id": [1],
|
84 |
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"skill_description": ["move to"],
|
85 |
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"object_id": [["storage_box_79"]],
|
86 |
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"manipulating_object_id": [],
|
87 |
+
"memory_prefix": ["the other"],
|
88 |
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|
89 |
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"frame_duration": [7691, 9869],
|
90 |
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"mp_ef": [],
|
91 |
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"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
+
"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
+
"manipulating_object_id": ["storage_box_79"],
|
99 |
+
"memory_prefix": ["the other"],
|
100 |
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"spatial_prefix": [],
|
101 |
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"frame_duration": [9870, 11426],
|
102 |
+
"mp_ef": [],
|
103 |
+
"skill_type": ["coordinated"]
|
104 |
+
},
|
105 |
+
{
|
106 |
+
"skill_idx": 8,
|
107 |
+
"skill_id": [1],
|
108 |
+
"skill_description": ["move to"],
|
109 |
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"object_id": [["storage_box_80"]],
|
110 |
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"manipulating_object_id": [],
|
111 |
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"memory_prefix": ["back"],
|
112 |
+
"spatial_prefix": [],
|
113 |
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"frame_duration": [11427, 14154],
|
114 |
+
"mp_ef": [],
|
115 |
+
"skill_type": ["navigation"]
|
116 |
+
},
|
117 |
+
{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
+
"skill_description": ["place on"],
|
121 |
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"object_id": [["storage_box_79", "storage_box_80"]],
|
122 |
+
"manipulating_object_id": ["storage_box_79"],
|
123 |
+
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|
124 |
+
"spatial_prefix": [],
|
125 |
+
"frame_duration": [14184, 14988],
|
126 |
+
"mp_ef": [],
|
127 |
+
"skill_type": ["coordinated"]
|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
+
"primitive_id": [10],
|
134 |
+
"primitive_description": ["open door"],
|
135 |
+
"object_id": [["door_bexenl_0"]],
|
136 |
+
"manipulating_object_id": [],
|
137 |
+
"memory_prefix": [],
|
138 |
+
"spatial_prefix": [],
|
139 |
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"frame_duration": [0, 1692],
|
140 |
+
"skill_idxes": [0, 1]
|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [1692, 7691],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [7691, 14988],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160020.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
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"meta_data": {
|
5 |
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"task_duration": 12219,
|
6 |
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"valid_duration": [0, 12219]
|
7 |
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},
|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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"skill_description": ["move to"],
|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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},
|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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"spatial_prefix": [],
|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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"skill_description": ["place on"],
|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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"mp_ef": [],
|
79 |
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|
80 |
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},
|
81 |
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{
|
82 |
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|
83 |
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"skill_id": [1],
|
84 |
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"skill_description": ["move to"],
|
85 |
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|
86 |
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|
87 |
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88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_79"],
|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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"skill_id": [1],
|
108 |
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"skill_description": ["move to"],
|
109 |
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"object_id": [["storage_box_80"]],
|
110 |
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|
111 |
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|
112 |
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|
113 |
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"frame_duration": [9102, 11338],
|
114 |
+
"mp_ef": [],
|
115 |
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"skill_type": ["navigation"]
|
116 |
+
},
|
117 |
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{
|
118 |
+
"skill_idx": 9,
|
119 |
+
"skill_id": [3],
|
120 |
+
"skill_description": ["place on"],
|
121 |
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"object_id": [["storage_box_79", "storage_box_80"]],
|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
+
"spatial_prefix": [],
|
125 |
+
"frame_duration": [11338, 12219],
|
126 |
+
"mp_ef": [],
|
127 |
+
"skill_type": ["coordinated"]
|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
+
"primitive_id": [10],
|
134 |
+
"primitive_description": ["open door"],
|
135 |
+
"object_id": [["door_bexenl_0"]],
|
136 |
+
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|
137 |
+
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|
138 |
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|
139 |
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|
140 |
+
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|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [1577, 6117],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [6117, 12219],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160030.json
ADDED
@@ -0,0 +1,165 @@
|
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|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
+
"task_duration": 13050,
|
6 |
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|
7 |
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},
|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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"skill_description": ["move to"],
|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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"skill_type": ["navigation"]
|
20 |
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},
|
21 |
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{
|
22 |
+
"skill_idx": 1,
|
23 |
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"skill_id": [10],
|
24 |
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"skill_description": ["open door"],
|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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},
|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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|
71 |
+
"skill_id": [3],
|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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"frame_duration": [5986, 6471],
|
78 |
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"mp_ef": [],
|
79 |
+
"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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"skill_id": [1],
|
84 |
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"skill_description": ["move to"],
|
85 |
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"object_id": [["storage_box_79"]],
|
86 |
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|
87 |
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"memory_prefix": ["the other"],
|
88 |
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|
89 |
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"frame_duration": [6472, 8767],
|
90 |
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"mp_ef": [],
|
91 |
+
"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
+
"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
+
"manipulating_object_id": ["storage_box_79"],
|
99 |
+
"memory_prefix": ["the other"],
|
100 |
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"spatial_prefix": [],
|
101 |
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"frame_duration": [9150, 10010],
|
102 |
+
"mp_ef": [],
|
103 |
+
"skill_type": ["coordinated"]
|
104 |
+
},
|
105 |
+
{
|
106 |
+
"skill_idx": 8,
|
107 |
+
"skill_id": [1],
|
108 |
+
"skill_description": ["move to"],
|
109 |
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"object_id": [["storage_box_80"]],
|
110 |
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"manipulating_object_id": [],
|
111 |
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"memory_prefix": ["back"],
|
112 |
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|
113 |
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"frame_duration": [10011, 12154],
|
114 |
+
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|
115 |
+
"skill_type": ["navigation"]
|
116 |
+
},
|
117 |
+
{
|
118 |
+
"skill_idx": 9,
|
119 |
+
"skill_id": [3],
|
120 |
+
"skill_description": ["place on"],
|
121 |
+
"object_id": [["storage_box_79", "storage_box_80"]],
|
122 |
+
"manipulating_object_id": ["storage_box_79"],
|
123 |
+
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|
124 |
+
"spatial_prefix": [],
|
125 |
+
"frame_duration": [12155, 13050],
|
126 |
+
"mp_ef": [],
|
127 |
+
"skill_type": ["coordinated"]
|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
+
"primitive_id": [10],
|
134 |
+
"primitive_description": ["open door"],
|
135 |
+
"object_id": [["door_bexenl_0"]],
|
136 |
+
"manipulating_object_id": [],
|
137 |
+
"memory_prefix": [],
|
138 |
+
"spatial_prefix": [],
|
139 |
+
"frame_duration": [0, 1317],
|
140 |
+
"skill_idxes": [0, 1]
|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [1317, 6471],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [6472, 13050],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160040.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
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{
|
2 |
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
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|
9 |
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|
10 |
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|
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|
12 |
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|
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|
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|
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18 |
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|
19 |
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|
20 |
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|
21 |
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|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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|
34 |
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|
35 |
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|
36 |
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|
37 |
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38 |
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|
39 |
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|
41 |
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42 |
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|
43 |
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|
44 |
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|
46 |
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|
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|
48 |
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|
49 |
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|
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51 |
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52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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57 |
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|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
64 |
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|
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|
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|
67 |
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|
68 |
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|
69 |
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|
70 |
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|
71 |
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|
72 |
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|
73 |
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74 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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"frame_duration": [10268, 12507],
|
114 |
+
"mp_ef": [],
|
115 |
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|
116 |
+
},
|
117 |
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{
|
118 |
+
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|
119 |
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"skill_id": [3],
|
120 |
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|
121 |
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"object_id": [["storage_box_79", "storage_box_80"]],
|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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|
125 |
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"frame_duration": [12610, 12960],
|
126 |
+
"mp_ef": [],
|
127 |
+
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|
128 |
+
}
|
129 |
+
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|
130 |
+
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|
131 |
+
{
|
132 |
+
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
+
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|
141 |
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|
142 |
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{
|
143 |
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|
144 |
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"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
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|
147 |
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|
148 |
+
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|
149 |
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|
150 |
+
"frame_duration": [1453, 7298],
|
151 |
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|
152 |
+
},
|
153 |
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{
|
154 |
+
"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
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|
158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160050.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
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|
3 |
+
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|
4 |
+
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
+
"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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|
84 |
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|
85 |
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"object_id": [["storage_box_79"]],
|
86 |
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|
87 |
+
"memory_prefix": ["the other"],
|
88 |
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|
89 |
+
"frame_duration": [6505, 8754],
|
90 |
+
"mp_ef": [],
|
91 |
+
"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
+
"manipulating_object_id": ["storage_box_79"],
|
99 |
+
"memory_prefix": ["the other"],
|
100 |
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|
101 |
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"frame_duration": [8754, 9244],
|
102 |
+
"mp_ef": [],
|
103 |
+
"skill_type": ["coordinated"]
|
104 |
+
},
|
105 |
+
{
|
106 |
+
"skill_idx": 8,
|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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},
|
117 |
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{
|
118 |
+
"skill_idx": 9,
|
119 |
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|
120 |
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|
121 |
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|
122 |
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|
123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
+
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
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|
134 |
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|
135 |
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"object_id": [["door_bexenl_0"]],
|
136 |
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|
137 |
+
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|
138 |
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|
139 |
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|
140 |
+
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|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
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|
149 |
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|
150 |
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"frame_duration": [1369, 6505],
|
151 |
+
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|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [6505, 12577],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160060.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
1 |
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|
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|
3 |
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|
4 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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102 |
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|
105 |
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|
106 |
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|
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|
108 |
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|
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|
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|
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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|
117 |
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|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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|
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|
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125 |
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|
126 |
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|
127 |
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|
128 |
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|
129 |
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|
130 |
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|
131 |
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|
132 |
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
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|
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|
140 |
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|
141 |
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|
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|
143 |
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|
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|
145 |
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|
146 |
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|
147 |
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|
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|
149 |
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|
150 |
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|
151 |
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|
152 |
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|
153 |
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|
154 |
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|
155 |
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|
156 |
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|
157 |
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|
158 |
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|
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|
160 |
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|
161 |
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|
162 |
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"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160070.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
1 |
+
{
|
2 |
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
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|
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|
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|
20 |
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|
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|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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|
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|
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|
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|
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|
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|
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|
44 |
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|
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|
46 |
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|
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|
48 |
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|
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|
50 |
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|
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|
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|
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|
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|
56 |
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|
57 |
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|
58 |
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|
59 |
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|
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|
61 |
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|
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64 |
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|
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|
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|
67 |
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|
68 |
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|
69 |
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|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
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|
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|
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
109 |
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|
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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|
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
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|
129 |
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|
130 |
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|
131 |
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{
|
132 |
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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"spatial_prefix": [],
|
139 |
+
"frame_duration": [0, 1793],
|
140 |
+
"skill_idxes": [0, 1]
|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [1793, 8080],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [8080, 15716],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160080.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
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|
|
|
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|
|
1 |
+
{
|
2 |
+
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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"skill_description": ["move to"],
|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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},
|
45 |
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{
|
46 |
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|
47 |
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"skill_id": [2],
|
48 |
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"skill_description": ["pick up from"],
|
49 |
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|
50 |
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"manipulating_object_id": ["storage_box_80"],
|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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"skill_id": [1],
|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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|
71 |
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"skill_id": [3],
|
72 |
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"skill_description": ["place on"],
|
73 |
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"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
74 |
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"manipulating_object_id": ["storage_box_80"],
|
75 |
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|
76 |
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|
77 |
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"frame_duration": [5437, 6058],
|
78 |
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"mp_ef": [],
|
79 |
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"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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"skill_id": [1],
|
84 |
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"skill_description": ["move to"],
|
85 |
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"object_id": [["storage_box_79"]],
|
86 |
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"manipulating_object_id": [],
|
87 |
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"memory_prefix": ["the other"],
|
88 |
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|
89 |
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"frame_duration": [6058, 8277],
|
90 |
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"mp_ef": [],
|
91 |
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"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_79"],
|
99 |
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"memory_prefix": ["the other"],
|
100 |
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"spatial_prefix": [],
|
101 |
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"frame_duration": [8278, 9567],
|
102 |
+
"mp_ef": [],
|
103 |
+
"skill_type": ["coordinated"]
|
104 |
+
},
|
105 |
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{
|
106 |
+
"skill_idx": 8,
|
107 |
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"skill_id": [1],
|
108 |
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"skill_description": ["move to"],
|
109 |
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|
110 |
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|
111 |
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"memory_prefix": ["back"],
|
112 |
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|
113 |
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"frame_duration": [9567, 11769],
|
114 |
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|
115 |
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"skill_type": ["navigation"]
|
116 |
+
},
|
117 |
+
{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
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"skill_description": ["place on"],
|
121 |
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"object_id": [["storage_box_79", "storage_box_80"]],
|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
+
}
|
129 |
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],
|
130 |
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"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
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"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
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"object_id": [["door_bexenl_0"]],
|
136 |
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|
137 |
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|
138 |
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"spatial_prefix": [],
|
139 |
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|
140 |
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|
141 |
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},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
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"primitive_description": ["pick up from", "place on"],
|
146 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
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"memory_prefix": [],
|
149 |
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"spatial_prefix": [],
|
150 |
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"frame_duration": [1050, 6058],
|
151 |
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"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
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{
|
154 |
+
"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
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|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [6058, 12479],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160090.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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},
|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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},
|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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"manipulating_object_id": ["storage_box_80"],
|
99 |
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"memory_prefix": ["the other"],
|
100 |
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|
101 |
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"frame_duration": [10154, 11370],
|
102 |
+
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|
103 |
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|
104 |
+
},
|
105 |
+
{
|
106 |
+
"skill_idx": 8,
|
107 |
+
"skill_id": [1],
|
108 |
+
"skill_description": ["move to"],
|
109 |
+
"object_id": [["storage_box_79"]],
|
110 |
+
"manipulating_object_id": [],
|
111 |
+
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|
112 |
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|
113 |
+
"frame_duration": [11370, 14015],
|
114 |
+
"mp_ef": [],
|
115 |
+
"skill_type": ["navigation"]
|
116 |
+
},
|
117 |
+
{
|
118 |
+
"skill_idx": 9,
|
119 |
+
"skill_id": [3],
|
120 |
+
"skill_description": ["place on"],
|
121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
122 |
+
"manipulating_object_id": ["storage_box_80"],
|
123 |
+
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|
124 |
+
"spatial_prefix": [],
|
125 |
+
"frame_duration": [14015, 14927],
|
126 |
+
"mp_ef": [],
|
127 |
+
"skill_type": ["coordinated"]
|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
+
"primitive_id": [10],
|
134 |
+
"primitive_description": ["open door"],
|
135 |
+
"object_id": [["door_bexenl_0"]],
|
136 |
+
"manipulating_object_id": [],
|
137 |
+
"memory_prefix": [],
|
138 |
+
"spatial_prefix": [],
|
139 |
+
"frame_duration": [0, 1814],
|
140 |
+
"skill_idxes": [0, 1]
|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [1814, 7779],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [7779, 14927],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160100.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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},
|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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},
|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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"skill_id": [1],
|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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|
71 |
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"skill_id": [3],
|
72 |
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"skill_description": ["place on"],
|
73 |
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|
74 |
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"manipulating_object_id": ["storage_box_80"],
|
75 |
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|
76 |
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|
77 |
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"frame_duration": [7440, 8191],
|
78 |
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"mp_ef": [],
|
79 |
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"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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"skill_id": [1],
|
84 |
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"skill_description": ["move to"],
|
85 |
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"object_id": [["storage_box_79"]],
|
86 |
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"manipulating_object_id": [],
|
87 |
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"memory_prefix": ["the other"],
|
88 |
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|
89 |
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"frame_duration": [8280, 10160],
|
90 |
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"mp_ef": [],
|
91 |
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"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_79"],
|
99 |
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"memory_prefix": ["the other"],
|
100 |
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"spatial_prefix": [],
|
101 |
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"frame_duration": [10161, 10910],
|
102 |
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"mp_ef": [],
|
103 |
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"skill_type": ["coordinated"]
|
104 |
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},
|
105 |
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{
|
106 |
+
"skill_idx": 8,
|
107 |
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"skill_id": [1],
|
108 |
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"skill_description": ["move to"],
|
109 |
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|
110 |
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|
111 |
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"memory_prefix": ["back"],
|
112 |
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|
113 |
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|
114 |
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|
115 |
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"skill_type": ["navigation"]
|
116 |
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},
|
117 |
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{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
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"skill_description": ["place on"],
|
121 |
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"object_id": [["storage_box_79", "storage_box_80"]],
|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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|
126 |
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|
127 |
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|
128 |
+
}
|
129 |
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],
|
130 |
+
"primitive_annotation": [
|
131 |
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{
|
132 |
+
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|
133 |
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"primitive_id": [10],
|
134 |
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|
135 |
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|
136 |
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"manipulating_object_id": [],
|
137 |
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"memory_prefix": [],
|
138 |
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"spatial_prefix": [],
|
139 |
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"frame_duration": [95, 2489],
|
140 |
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"skill_idxes": [0, 1]
|
141 |
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},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
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"memory_prefix": [],
|
149 |
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"spatial_prefix": [],
|
150 |
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"frame_duration": [2489, 8191],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
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{
|
154 |
+
"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
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"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [8280, 13587],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160120.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
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|
|
|
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
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"meta_data": {
|
5 |
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|
6 |
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|
7 |
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},
|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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},
|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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},
|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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},
|
45 |
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{
|
46 |
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"skill_idx": 3,
|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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"skill_description": ["move to"],
|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
+
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|
115 |
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"skill_type": ["navigation"]
|
116 |
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},
|
117 |
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{
|
118 |
+
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|
119 |
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|
120 |
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"skill_description": ["place on"],
|
121 |
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"object_id": [["storage_box_79", "storage_box_80"]],
|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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"frame_duration": [17943, 18600],
|
126 |
+
"mp_ef": [],
|
127 |
+
"skill_type": ["coordinated"]
|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
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|
134 |
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"primitive_description": ["open door"],
|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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},
|
142 |
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{
|
143 |
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"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
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"primitive_description": ["pick up from", "place on"],
|
146 |
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|
147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
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"memory_prefix": [],
|
149 |
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|
150 |
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"frame_duration": [2651, 10920],
|
151 |
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"skill_idxes": [2, 3, 4, 5]
|
152 |
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},
|
153 |
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{
|
154 |
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"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
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"primitive_description": ["pick up from", "place on"],
|
157 |
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|
158 |
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"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [10935, 18600],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160130.json
ADDED
@@ -0,0 +1,165 @@
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|
|
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|
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|
|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
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|
|
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|
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|
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|
|
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|
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|
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|
1 |
+
{
|
2 |
+
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_79"],
|
99 |
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|
100 |
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|
101 |
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"frame_duration": [12773, 13790],
|
102 |
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"mp_ef": [],
|
103 |
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"skill_type": ["coordinated"]
|
104 |
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},
|
105 |
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{
|
106 |
+
"skill_idx": 8,
|
107 |
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"skill_id": [1],
|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
+
},
|
117 |
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{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
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"skill_description": ["place on"],
|
121 |
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|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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|
126 |
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|
127 |
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
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"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
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"object_id": [["door_bexenl_0"]],
|
136 |
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|
137 |
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|
138 |
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"spatial_prefix": [],
|
139 |
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"frame_duration": [0, 2203],
|
140 |
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"skill_idxes": [0, 1]
|
141 |
+
},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
+
"memory_prefix": [],
|
149 |
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|
150 |
+
"frame_duration": [2203, 9789],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
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{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [9789, 18121],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160140.json
ADDED
@@ -0,0 +1,165 @@
|
|
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
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|
6 |
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|
7 |
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},
|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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},
|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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|
34 |
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|
35 |
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|
36 |
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37 |
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38 |
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39 |
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41 |
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42 |
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43 |
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|
44 |
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|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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51 |
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52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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57 |
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|
58 |
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|
59 |
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|
60 |
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61 |
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62 |
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63 |
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64 |
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|
65 |
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66 |
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|
67 |
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68 |
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|
69 |
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|
70 |
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|
71 |
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|
72 |
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|
73 |
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74 |
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75 |
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|
76 |
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77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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86 |
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87 |
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88 |
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89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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"skill_description": ["move to"],
|
109 |
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|
110 |
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|
111 |
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112 |
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|
113 |
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|
114 |
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"mp_ef": [],
|
115 |
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"skill_type": ["navigation"]
|
116 |
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},
|
117 |
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{
|
118 |
+
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|
119 |
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"skill_id": [3],
|
120 |
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"skill_description": ["place on"],
|
121 |
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"object_id": [["storage_box_80", "storage_box_79"]],
|
122 |
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"manipulating_object_id": ["storage_box_80"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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"frame_duration": [18512, 19177],
|
126 |
+
"mp_ef": [],
|
127 |
+
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
+
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|
134 |
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"primitive_description": ["open door"],
|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
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|
147 |
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|
148 |
+
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|
149 |
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|
150 |
+
"frame_duration": [2536, 11072],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [11072, 19177],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160150.json
ADDED
@@ -0,0 +1,165 @@
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|
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|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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"skill_id": [10],
|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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},
|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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|
71 |
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"skill_id": [3],
|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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"mp_ef": [],
|
79 |
+
"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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|
84 |
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"skill_description": ["move to"],
|
85 |
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"object_id": [["storage_box_80"]],
|
86 |
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|
87 |
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"memory_prefix": ["the other"],
|
88 |
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|
89 |
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"frame_duration": [9122, 11361],
|
90 |
+
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|
91 |
+
"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
+
"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
98 |
+
"manipulating_object_id": ["storage_box_80"],
|
99 |
+
"memory_prefix": ["the other"],
|
100 |
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"spatial_prefix": [],
|
101 |
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"frame_duration": [11361, 12642],
|
102 |
+
"mp_ef": [],
|
103 |
+
"skill_type": ["coordinated"]
|
104 |
+
},
|
105 |
+
{
|
106 |
+
"skill_idx": 8,
|
107 |
+
"skill_id": [1],
|
108 |
+
"skill_description": ["move to"],
|
109 |
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"object_id": [["storage_box_79"]],
|
110 |
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|
111 |
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|
112 |
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|
113 |
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"frame_duration": [12643, 15667],
|
114 |
+
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|
115 |
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"skill_type": ["navigation"]
|
116 |
+
},
|
117 |
+
{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
+
"skill_description": ["place on"],
|
121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
122 |
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"manipulating_object_id": ["storage_box_80"],
|
123 |
+
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|
124 |
+
"spatial_prefix": [],
|
125 |
+
"frame_duration": [15757, 16401],
|
126 |
+
"mp_ef": [],
|
127 |
+
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
+
"primitive_id": [10],
|
134 |
+
"primitive_description": ["open door"],
|
135 |
+
"object_id": [["door_bexenl_0"]],
|
136 |
+
"manipulating_object_id": [],
|
137 |
+
"memory_prefix": [],
|
138 |
+
"spatial_prefix": [],
|
139 |
+
"frame_duration": [300, 2159],
|
140 |
+
"skill_idxes": [0, 1]
|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [2166, 9121],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [9122, 16401],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160160.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
|
|
1 |
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{
|
2 |
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|
3 |
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|
4 |
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|
5 |
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|
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|
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|
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|
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|
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|
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|
22 |
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|
23 |
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|
24 |
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|
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|
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|
30 |
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|
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|
32 |
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|
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|
34 |
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|
35 |
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|
36 |
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|
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|
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|
48 |
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|
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|
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|
56 |
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|
58 |
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|
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|
60 |
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68 |
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|
69 |
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|
70 |
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|
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|
72 |
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|
73 |
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|
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|
79 |
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80 |
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|
81 |
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|
82 |
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|
83 |
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|
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85 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
+
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|
115 |
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|
116 |
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|
117 |
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{
|
118 |
+
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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|
125 |
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|
126 |
+
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|
127 |
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|
128 |
+
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|
129 |
+
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|
130 |
+
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|
131 |
+
{
|
132 |
+
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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|
142 |
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{
|
143 |
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|
144 |
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|
145 |
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|
146 |
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|
147 |
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|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
+
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|
153 |
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{
|
154 |
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|
155 |
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|
156 |
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|
157 |
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|
158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160180.json
ADDED
@@ -0,0 +1,165 @@
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
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|
3 |
+
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
+
"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
+
"memory_prefix": ["the other"],
|
88 |
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|
89 |
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"frame_duration": [6594, 8936],
|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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|
97 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_80"],
|
99 |
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"memory_prefix": ["the other"],
|
100 |
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|
101 |
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"frame_duration": [8936, 9969],
|
102 |
+
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|
103 |
+
"skill_type": ["coordinated"]
|
104 |
+
},
|
105 |
+
{
|
106 |
+
"skill_idx": 8,
|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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},
|
117 |
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{
|
118 |
+
"skill_idx": 9,
|
119 |
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|
120 |
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|
121 |
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|
122 |
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|
123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
+
}
|
129 |
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],
|
130 |
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"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
+
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|
138 |
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|
139 |
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|
140 |
+
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|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
147 |
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"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
+
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|
149 |
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|
150 |
+
"frame_duration": [1613, 6594],
|
151 |
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|
152 |
+
},
|
153 |
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{
|
154 |
+
"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [6594, 12954],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160190.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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1 |
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|
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|
3 |
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|
4 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
115 |
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|
116 |
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|
117 |
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|
118 |
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|
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|
120 |
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|
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|
122 |
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|
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|
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|
127 |
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|
128 |
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|
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|
130 |
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|
131 |
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|
132 |
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|
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|
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|
135 |
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|
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|
137 |
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|
140 |
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|
141 |
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|
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|
143 |
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|
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|
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|
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|
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|
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|
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|
151 |
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|
152 |
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|
153 |
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|
154 |
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|
155 |
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|
156 |
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|
157 |
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|
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|
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|
160 |
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|
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|
162 |
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|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160200.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
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|
1 |
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{
|
2 |
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
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|
9 |
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|
10 |
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|
11 |
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|
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|
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|
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|
15 |
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|
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|
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|
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|
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|
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|
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|
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|
25 |
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|
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|
27 |
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|
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|
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|
30 |
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|
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|
32 |
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|
33 |
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|
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|
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|
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|
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|
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|
46 |
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|
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|
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|
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|
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|
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|
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|
56 |
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|
58 |
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|
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|
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|
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67 |
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68 |
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|
69 |
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|
70 |
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|
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|
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|
73 |
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|
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|
79 |
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|
80 |
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|
81 |
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|
82 |
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|
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|
84 |
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|
85 |
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|
86 |
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|
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|
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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|
106 |
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|
107 |
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|
108 |
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|
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|
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|
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|
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|
113 |
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|
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|
115 |
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|
116 |
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|
117 |
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|
118 |
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|
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|
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|
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|
122 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
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|
129 |
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|
130 |
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|
131 |
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{
|
132 |
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|
133 |
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|
134 |
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|
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|
136 |
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|
137 |
+
"memory_prefix": [],
|
138 |
+
"spatial_prefix": [],
|
139 |
+
"frame_duration": [0, 1808],
|
140 |
+
"skill_idxes": [0, 1]
|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [1808, 7081],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [7105, 13337],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160210.json
ADDED
@@ -0,0 +1,165 @@
|
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|
|
|
|
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|
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|
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|
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|
|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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},
|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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},
|
45 |
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{
|
46 |
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|
47 |
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"skill_id": [2],
|
48 |
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|
49 |
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|
50 |
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"manipulating_object_id": ["storage_box_80"],
|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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"skill_id": [1],
|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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"skill_idx": 5,
|
71 |
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"skill_id": [3],
|
72 |
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"skill_description": ["place on"],
|
73 |
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|
74 |
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"manipulating_object_id": ["storage_box_80"],
|
75 |
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|
76 |
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|
77 |
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"frame_duration": [6038, 6316],
|
78 |
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"mp_ef": [],
|
79 |
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"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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"skill_id": [1],
|
84 |
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"skill_description": ["move to"],
|
85 |
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"object_id": [["storage_box_79"]],
|
86 |
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"manipulating_object_id": [],
|
87 |
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"memory_prefix": ["the other"],
|
88 |
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|
89 |
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"frame_duration": [6317, 8662],
|
90 |
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"mp_ef": [],
|
91 |
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"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_79"],
|
99 |
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"memory_prefix": ["the other"],
|
100 |
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"spatial_prefix": [],
|
101 |
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"frame_duration": [8662, 9372],
|
102 |
+
"mp_ef": [],
|
103 |
+
"skill_type": ["coordinated"]
|
104 |
+
},
|
105 |
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{
|
106 |
+
"skill_idx": 8,
|
107 |
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"skill_id": [1],
|
108 |
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"skill_description": ["move to"],
|
109 |
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"object_id": [["storage_box_80"]],
|
110 |
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|
111 |
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"memory_prefix": ["back"],
|
112 |
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|
113 |
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"frame_duration": [9373, 12022],
|
114 |
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"mp_ef": [],
|
115 |
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"skill_type": ["navigation"]
|
116 |
+
},
|
117 |
+
{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
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"skill_description": ["place on"],
|
121 |
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|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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|
126 |
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|
127 |
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
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"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
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|
147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
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"memory_prefix": [],
|
149 |
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|
150 |
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"frame_duration": [1409, 6316],
|
151 |
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"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
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{
|
154 |
+
"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
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|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [6317, 12753],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160220.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
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"meta_data": {
|
5 |
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|
6 |
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|
7 |
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},
|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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},
|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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},
|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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"manipulating_object_id": ["storage_box_79"],
|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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},
|
105 |
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{
|
106 |
+
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|
107 |
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|
108 |
+
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
+
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|
115 |
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|
116 |
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},
|
117 |
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{
|
118 |
+
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|
119 |
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|
120 |
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|
121 |
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|
122 |
+
"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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|
125 |
+
"frame_duration": [13790, 14427],
|
126 |
+
"mp_ef": [],
|
127 |
+
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
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"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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"frame_duration": [1058, 3645],
|
140 |
+
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|
141 |
+
},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
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"primitive_description": ["pick up from", "place on"],
|
146 |
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|
147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
+
"memory_prefix": [],
|
149 |
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|
150 |
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"frame_duration": [3650, 8691],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
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{
|
154 |
+
"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
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"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
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"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [8699, 14427],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160230.json
ADDED
@@ -0,0 +1,165 @@
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|
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|
|
|
|
|
|
|
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|
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|
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|
1 |
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{
|
2 |
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
9 |
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|
10 |
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|
11 |
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12 |
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|
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|
15 |
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18 |
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|
19 |
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|
20 |
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|
21 |
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22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
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42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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"skill_description": ["place on"],
|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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"skill_type": ["navigation"]
|
92 |
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|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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"skill_type": ["coordinated"]
|
104 |
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},
|
105 |
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{
|
106 |
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"skill_idx": 8,
|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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},
|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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|
123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
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}
|
129 |
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|
130 |
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|
131 |
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{
|
132 |
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
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|
146 |
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|
147 |
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|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
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},
|
153 |
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{
|
154 |
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"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
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"primitive_description": ["pick up from", "place on"],
|
157 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
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|
159 |
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|
160 |
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|
161 |
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"frame_duration": [6126, 12363],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160240.json
ADDED
@@ -0,0 +1,165 @@
|
|
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|
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|
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|
1 |
+
{
|
2 |
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"task_name": "moving boxes to storage",
|
3 |
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"data_folder": "",
|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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},
|
81 |
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{
|
82 |
+
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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},
|
105 |
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{
|
106 |
+
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|
107 |
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|
108 |
+
"skill_description": ["move to"],
|
109 |
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"object_id": [["storage_box_79"]],
|
110 |
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|
111 |
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|
112 |
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|
113 |
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"frame_duration": [10347, 12745],
|
114 |
+
"mp_ef": [],
|
115 |
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"skill_type": ["navigation"]
|
116 |
+
},
|
117 |
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{
|
118 |
+
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|
119 |
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|
120 |
+
"skill_description": ["place on"],
|
121 |
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"object_id": [["storage_box_80", "storage_box_79"]],
|
122 |
+
"manipulating_object_id": ["storage_box_80"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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"frame_duration": [12747, 13479],
|
126 |
+
"mp_ef": [],
|
127 |
+
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
+
"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
147 |
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"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
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"memory_prefix": [],
|
149 |
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"spatial_prefix": [],
|
150 |
+
"frame_duration": [1230, 6630],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [6630, 13479],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160260.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
1 |
+
{
|
2 |
+
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|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_80"],
|
99 |
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"memory_prefix": ["the other"],
|
100 |
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|
101 |
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"frame_duration": [10950, 11588],
|
102 |
+
"mp_ef": [],
|
103 |
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"skill_type": ["coordinated"]
|
104 |
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},
|
105 |
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{
|
106 |
+
"skill_idx": 8,
|
107 |
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"skill_id": [1],
|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
+
},
|
117 |
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{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
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"skill_description": ["place on"],
|
121 |
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"object_id": [["storage_box_80", "storage_box_79"]],
|
122 |
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"manipulating_object_id": ["storage_box_80"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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|
126 |
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|
127 |
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
+
"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
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"object_id": [["door_bexenl_0"]],
|
136 |
+
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|
137 |
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"memory_prefix": [],
|
138 |
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"spatial_prefix": [],
|
139 |
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"frame_duration": [0, 1712],
|
140 |
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|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
+
"memory_prefix": [],
|
149 |
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"spatial_prefix": [],
|
150 |
+
"frame_duration": [1715, 8316],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [8316, 15306],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160270.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
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|
6 |
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|
7 |
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},
|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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},
|
21 |
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{
|
22 |
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"skill_idx": 1,
|
23 |
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"skill_id": [10],
|
24 |
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"skill_description": ["open door"],
|
25 |
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"object_id": [["door_bexenl_0"]],
|
26 |
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|
27 |
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28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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|
34 |
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|
35 |
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|
36 |
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|
37 |
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38 |
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|
39 |
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41 |
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42 |
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|
43 |
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|
44 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
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88 |
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89 |
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|
90 |
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|
91 |
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|
92 |
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93 |
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
+
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|
115 |
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|
116 |
+
},
|
117 |
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{
|
118 |
+
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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"manipulating_object_id": ["storage_box_80"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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"frame_duration": [12916, 13267],
|
126 |
+
"mp_ef": [],
|
127 |
+
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
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|
133 |
+
"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
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|
147 |
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|
148 |
+
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|
149 |
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|
150 |
+
"frame_duration": [1217, 6727],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
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|
158 |
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|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [6793, 13267],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160280.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
+
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
+
"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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"frame_duration": [7136, 9286],
|
90 |
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|
91 |
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"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_80"],
|
99 |
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|
100 |
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|
101 |
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"frame_duration": [9286, 10133],
|
102 |
+
"mp_ef": [],
|
103 |
+
"skill_type": ["coordinated"]
|
104 |
+
},
|
105 |
+
{
|
106 |
+
"skill_idx": 8,
|
107 |
+
"skill_id": [1],
|
108 |
+
"skill_description": ["move to"],
|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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"frame_duration": [10133, 12912],
|
114 |
+
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|
115 |
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|
116 |
+
},
|
117 |
+
{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
+
"skill_description": ["place on"],
|
121 |
+
"object_id": [["storage_box_80", "storage_box_79"]],
|
122 |
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"manipulating_object_id": ["storage_box_80"],
|
123 |
+
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|
124 |
+
"spatial_prefix": [],
|
125 |
+
"frame_duration": [12912, 13454],
|
126 |
+
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|
127 |
+
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|
128 |
+
}
|
129 |
+
],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
+
"primitive_id": [10],
|
134 |
+
"primitive_description": ["open door"],
|
135 |
+
"object_id": [["door_bexenl_0"]],
|
136 |
+
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|
137 |
+
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|
138 |
+
"spatial_prefix": [],
|
139 |
+
"frame_duration": [596, 1897],
|
140 |
+
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|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [1897, 7135],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [7136, 13454],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160290.json
ADDED
@@ -0,0 +1,165 @@
|
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|
1 |
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{
|
2 |
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|
3 |
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|
4 |
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|
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|
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|
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|
22 |
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|
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|
24 |
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|
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|
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|
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|
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|
32 |
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33 |
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|
34 |
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|
35 |
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|
36 |
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44 |
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|
48 |
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|
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|
53 |
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|
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|
56 |
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|
58 |
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|
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|
60 |
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68 |
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69 |
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|
70 |
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|
71 |
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|
72 |
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|
73 |
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76 |
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|
79 |
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80 |
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|
81 |
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|
82 |
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|
83 |
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|
84 |
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|
85 |
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86 |
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|
89 |
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|
90 |
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|
91 |
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|
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|
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{
|
94 |
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|
95 |
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|
96 |
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|
97 |
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|
98 |
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99 |
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100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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|
123 |
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|
124 |
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|
125 |
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|
126 |
+
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|
127 |
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|
128 |
+
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|
129 |
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|
130 |
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|
131 |
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{
|
132 |
+
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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|
142 |
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{
|
143 |
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|
144 |
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|
145 |
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|
146 |
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|
147 |
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|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
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|
153 |
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{
|
154 |
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|
155 |
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|
156 |
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|
157 |
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|
158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160300.json
ADDED
@@ -0,0 +1,165 @@
|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
1 |
+
{
|
2 |
+
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|
3 |
+
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|
4 |
+
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
+
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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|
96 |
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|
97 |
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|
98 |
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"manipulating_object_id": ["storage_box_80"],
|
99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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},
|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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|
109 |
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|
110 |
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|
111 |
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|
112 |
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|
113 |
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|
114 |
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|
115 |
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|
116 |
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|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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|
123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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|
128 |
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}
|
129 |
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|
130 |
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|
131 |
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{
|
132 |
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|
133 |
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|
134 |
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|
135 |
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|
136 |
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|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
+
},
|
142 |
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{
|
143 |
+
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|
144 |
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|
145 |
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|
146 |
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|
147 |
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"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
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|
149 |
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|
150 |
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|
151 |
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|
152 |
+
},
|
153 |
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{
|
154 |
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"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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|
161 |
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"frame_duration": [5990, 11975],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160310.json
ADDED
@@ -0,0 +1,165 @@
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1 |
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{
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2 |
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"task_name": "moving boxes to storage",
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3 |
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"data_folder": "",
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4 |
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"meta_data": {
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"task_duration": 13437,
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{
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{
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118 |
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{
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132 |
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{
|
143 |
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144 |
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|
145 |
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|
146 |
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|
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151 |
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|
152 |
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|
153 |
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{
|
154 |
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|
155 |
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|
156 |
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|
157 |
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|
158 |
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159 |
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"memory_prefix": ["the other", ""],
|
160 |
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|
161 |
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|
162 |
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"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
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annotations/task-0016/episode_00160320.json
ADDED
@@ -0,0 +1,165 @@
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|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
+
"meta_data": {
|
5 |
+
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|
6 |
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|
7 |
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},
|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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16 |
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17 |
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18 |
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19 |
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|
20 |
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21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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29 |
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30 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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{
|
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|
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|
48 |
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|
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|
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56 |
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|
58 |
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|
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|
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78 |
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79 |
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{
|
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|
84 |
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85 |
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86 |
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|
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|
90 |
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|
91 |
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|
92 |
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93 |
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{
|
94 |
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|
95 |
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|
96 |
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"skill_description": ["pick up from"],
|
97 |
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|
98 |
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"manipulating_object_id": ["storage_box_80"],
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99 |
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|
100 |
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|
101 |
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|
102 |
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|
103 |
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|
104 |
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|
105 |
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{
|
106 |
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|
107 |
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|
108 |
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109 |
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|
111 |
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112 |
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113 |
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114 |
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|
115 |
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|
116 |
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|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
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"manipulating_object_id": ["storage_box_80"],
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123 |
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|
124 |
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|
125 |
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|
126 |
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|
127 |
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"skill_type": ["coordinated"]
|
128 |
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|
129 |
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],
|
130 |
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"primitive_annotation": [
|
131 |
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{
|
132 |
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"primitive_idx": 0,
|
133 |
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"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
+
"object_id": [["door_bexenl_0"]],
|
136 |
+
"manipulating_object_id": [],
|
137 |
+
"memory_prefix": [],
|
138 |
+
"spatial_prefix": [],
|
139 |
+
"frame_duration": [0, 1803],
|
140 |
+
"skill_idxes": [0, 1]
|
141 |
+
},
|
142 |
+
{
|
143 |
+
"primitive_idx": 1,
|
144 |
+
"primitive_id": [2, 3],
|
145 |
+
"primitive_description": ["pick up from", "place on"],
|
146 |
+
"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "floors_nbxnpk_0"]],
|
147 |
+
"manipulating_object_id": ["storage_box_79", "storage_box_79"],
|
148 |
+
"memory_prefix": [],
|
149 |
+
"spatial_prefix": [],
|
150 |
+
"frame_duration": [1803, 7774],
|
151 |
+
"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
+
{
|
154 |
+
"primitive_idx": 2,
|
155 |
+
"primitive_id": [2, 3],
|
156 |
+
"primitive_description": ["pick up from", "place on"],
|
157 |
+
"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "storage_box_79"]],
|
158 |
+
"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
159 |
+
"memory_prefix": ["the other", ""],
|
160 |
+
"spatial_prefix": [],
|
161 |
+
"frame_duration": [7774, 15396],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160330.json
ADDED
@@ -0,0 +1,165 @@
|
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|
|
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|
|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
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|
4 |
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|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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"skill_type": ["navigation"]
|
68 |
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},
|
69 |
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{
|
70 |
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|
71 |
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"skill_id": [3],
|
72 |
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"skill_description": ["place on"],
|
73 |
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"object_id": [["storage_box_80", "floors_nbxnpk_0"]],
|
74 |
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"manipulating_object_id": ["storage_box_80"],
|
75 |
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|
76 |
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"spatial_prefix": [],
|
77 |
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"frame_duration": [6789, 7531],
|
78 |
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"mp_ef": [],
|
79 |
+
"skill_type": ["coordinated"]
|
80 |
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},
|
81 |
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{
|
82 |
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"skill_idx": 6,
|
83 |
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"skill_id": [1],
|
84 |
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"skill_description": ["move to"],
|
85 |
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"object_id": [["storage_box_79"]],
|
86 |
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"manipulating_object_id": [],
|
87 |
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"memory_prefix": ["the other"],
|
88 |
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|
89 |
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"frame_duration": [7531, 9946],
|
90 |
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"mp_ef": [],
|
91 |
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"skill_type": ["navigation"]
|
92 |
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},
|
93 |
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{
|
94 |
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"skill_idx": 7,
|
95 |
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"skill_id": [2],
|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
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"manipulating_object_id": ["storage_box_79"],
|
99 |
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"memory_prefix": ["the other"],
|
100 |
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"spatial_prefix": [],
|
101 |
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"frame_duration": [9946, 11319],
|
102 |
+
"mp_ef": [],
|
103 |
+
"skill_type": ["coordinated"]
|
104 |
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},
|
105 |
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{
|
106 |
+
"skill_idx": 8,
|
107 |
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"skill_id": [1],
|
108 |
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"skill_description": ["move to"],
|
109 |
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|
110 |
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|
111 |
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"memory_prefix": ["back"],
|
112 |
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|
113 |
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"frame_duration": [11320, 13870],
|
114 |
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"mp_ef": [],
|
115 |
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"skill_type": ["navigation"]
|
116 |
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},
|
117 |
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{
|
118 |
+
"skill_idx": 9,
|
119 |
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"skill_id": [3],
|
120 |
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"skill_description": ["place on"],
|
121 |
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|
122 |
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"manipulating_object_id": ["storage_box_79"],
|
123 |
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|
124 |
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"spatial_prefix": [],
|
125 |
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"frame_duration": [13871, 14850],
|
126 |
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"mp_ef": [],
|
127 |
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|
128 |
+
}
|
129 |
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],
|
130 |
+
"primitive_annotation": [
|
131 |
+
{
|
132 |
+
"primitive_idx": 0,
|
133 |
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"primitive_id": [10],
|
134 |
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"primitive_description": ["open door"],
|
135 |
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|
136 |
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"manipulating_object_id": [],
|
137 |
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|
138 |
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|
139 |
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|
140 |
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|
141 |
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},
|
142 |
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{
|
143 |
+
"primitive_idx": 1,
|
144 |
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"primitive_id": [2, 3],
|
145 |
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"primitive_description": ["pick up from", "place on"],
|
146 |
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"object_id": [["storage_box_80", "floors_ulujpr_0"], ["storage_box_80", "floors_nbxnpk_0"]],
|
147 |
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"manipulating_object_id": ["storage_box_80", "storage_box_80"],
|
148 |
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"memory_prefix": [],
|
149 |
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"spatial_prefix": [],
|
150 |
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"frame_duration": [1939, 7531],
|
151 |
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"skill_idxes": [2, 3, 4, 5]
|
152 |
+
},
|
153 |
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{
|
154 |
+
"primitive_idx": 2,
|
155 |
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"primitive_id": [2, 3],
|
156 |
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"primitive_description": ["pick up from", "place on"],
|
157 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"], ["storage_box_79", "storage_box_80"]],
|
158 |
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|
159 |
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"memory_prefix": ["the other", ""],
|
160 |
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"spatial_prefix": [],
|
161 |
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"frame_duration": [7531, 14850],
|
162 |
+
"skill_idxes": [6, 7, 8, 9]
|
163 |
+
}
|
164 |
+
]
|
165 |
+
}
|
annotations/task-0016/episode_00160340.json
ADDED
@@ -0,0 +1,165 @@
|
|
|
|
|
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|
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|
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|
|
|
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|
|
1 |
+
{
|
2 |
+
"task_name": "moving boxes to storage",
|
3 |
+
"data_folder": "",
|
4 |
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"meta_data": {
|
5 |
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|
6 |
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|
7 |
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|
8 |
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|
9 |
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{
|
10 |
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|
11 |
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|
12 |
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|
13 |
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|
14 |
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|
15 |
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|
16 |
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|
17 |
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|
18 |
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|
19 |
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|
20 |
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|
21 |
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{
|
22 |
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|
23 |
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|
24 |
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|
25 |
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|
26 |
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|
27 |
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|
28 |
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|
29 |
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|
30 |
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|
31 |
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|
32 |
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|
33 |
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{
|
34 |
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|
35 |
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|
36 |
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|
37 |
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|
38 |
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|
39 |
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|
40 |
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|
41 |
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|
42 |
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|
43 |
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|
44 |
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},
|
45 |
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{
|
46 |
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|
47 |
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|
48 |
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|
49 |
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|
50 |
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|
51 |
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|
52 |
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|
53 |
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|
54 |
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|
55 |
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|
56 |
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|
57 |
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{
|
58 |
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|
59 |
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|
60 |
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|
61 |
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|
62 |
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|
63 |
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|
64 |
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|
65 |
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|
66 |
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|
67 |
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|
68 |
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},
|
69 |
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{
|
70 |
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|
71 |
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|
72 |
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|
73 |
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|
74 |
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|
75 |
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|
76 |
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|
77 |
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|
78 |
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|
79 |
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|
80 |
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|
81 |
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{
|
82 |
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|
83 |
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|
84 |
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|
85 |
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|
86 |
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|
87 |
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|
88 |
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|
89 |
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|
90 |
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|
91 |
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|
92 |
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|
93 |
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{
|
94 |
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|
95 |
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|
96 |
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"skill_description": ["pick up from"],
|
97 |
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"object_id": [["storage_box_79", "floors_ulujpr_0"]],
|
98 |
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99 |
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|
100 |
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101 |
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102 |
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|
103 |
+
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|
104 |
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},
|
105 |
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{
|
106 |
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|
107 |
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|
108 |
+
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|
109 |
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|
110 |
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111 |
+
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112 |
+
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113 |
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|
114 |
+
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115 |
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|
116 |
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},
|
117 |
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{
|
118 |
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|
119 |
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|
120 |
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|
121 |
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|
122 |
+
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|
123 |
+
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|
124 |
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|
125 |
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|
126 |
+
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|
127 |
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|
128 |
+
}
|
129 |
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],
|
130 |
+
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|
131 |
+
{
|
132 |
+
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|
133 |
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|
134 |
+
"primitive_description": ["open door"],
|
135 |
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|
136 |
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|
137 |
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138 |
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139 |
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140 |
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|
141 |
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},
|
142 |
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{
|
143 |
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|
144 |
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|
145 |
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146 |
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147 |
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|
148 |
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149 |
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150 |
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|
151 |
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|
152 |
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},
|
153 |
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{
|
154 |
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|
155 |
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|
156 |
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"primitive_description": ["pick up from", "place on"],
|
157 |
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|
158 |
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|
159 |
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|
160 |
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|
161 |
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|
162 |
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|
163 |
+
}
|
164 |
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]
|
165 |
+
}
|