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- annotations/task-0007/episode_00070200.json +1105 -0
- annotations/task-0009/episode_00091110.json +969 -268
- annotations/task-0009/episode_00092350.json +1027 -284
- annotations/task-0031/episode_00310010.json +457 -0
- annotations/task-0031/episode_00310020.json +457 -0
- annotations/task-0031/episode_00310030.json +424 -0
- annotations/task-0031/episode_00310040.json +457 -0
- annotations/task-0031/episode_00310060.json +457 -0
- annotations/task-0031/episode_00310070.json +366 -0
- annotations/task-0031/episode_00310080.json +424 -0
- annotations/task-0031/episode_00310100.json +482 -0
- annotations/task-0031/episode_00310110.json +515 -0
- annotations/task-0031/episode_00310120.json +424 -0
- annotations/task-0031/episode_00310130.json +482 -0
- annotations/task-0031/episode_00310140.json +457 -0
- annotations/task-0031/episode_00310150.json +391 -0
- annotations/task-0031/episode_00310160.json +457 -0
- annotations/task-0031/episode_00310170.json +399 -0
- annotations/task-0031/episode_00310180.json +457 -0
- annotations/task-0031/episode_00310190.json +457 -0
- annotations/task-0031/episode_00310200.json +424 -0
- annotations/task-0031/episode_00310210.json +424 -0
- annotations/task-0031/episode_00310220.json +457 -0
- annotations/task-0031/episode_00310230.json +457 -0
- annotations/task-0031/episode_00310240.json +457 -0
- annotations/task-0031/episode_00310250.json +424 -0
- annotations/task-0031/episode_00310270.json +457 -0
- annotations/task-0031/episode_00310290.json +424 -0
- annotations/task-0031/episode_00310300.json +424 -0
- annotations/task-0031/episode_00310310.json +424 -0
- annotations/task-0031/episode_00310320.json +424 -0
- annotations/task-0031/episode_00310330.json +391 -0
- annotations/task-0031/episode_00310350.json +457 -0
- annotations/task-0031/episode_00310380.json +457 -0
- annotations/task-0031/episode_00310390.json +457 -0
- annotations/task-0031/episode_00310400.json +457 -0
- annotations/task-0031/episode_00310460.json +391 -0
- annotations/task-0031/episode_00310470.json +391 -0
- annotations/task-0031/episode_00310480.json +391 -0
- annotations/task-0031/episode_00310490.json +391 -0
- annotations/task-0031/episode_00310510.json +391 -0
- annotations/task-0031/episode_00310530.json +391 -0
- annotations/task-0031/episode_00310560.json +391 -0
- annotations/task-0031/episode_00310580.json +391 -0
- annotations/task-0031/episode_00310600.json +391 -0
- annotations/task-0031/episode_00310620.json +416 -0
- annotations/task-0031/episode_00310640.json +391 -0
- annotations/task-0031/episode_00310650.json +366 -0
- annotations/task-0031/episode_00310680.json +391 -0
- annotations/task-0031/episode_00310700.json +391 -0
annotations/task-0007/episode_00070200.json
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| 1 |
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| 2 |
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annotations/task-0009/episode_00091110.json
CHANGED
|
@@ -3,471 +3,1172 @@
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| 3 |
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| 22 |
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| 24 |
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|
annotations/task-0009/episode_00092350.json
CHANGED
|
@@ -3,494 +3,1237 @@
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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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| 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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| 1156 |
+
[
|
| 1157 |
+
"gift_box_221",
|
| 1158 |
+
"floors_uzsntg_0"
|
| 1159 |
+
],
|
| 1160 |
+
[
|
| 1161 |
+
"gift_box_221",
|
| 1162 |
+
"floors_uzsntg_0",
|
| 1163 |
+
"christmas_tree_228"
|
| 1164 |
+
]
|
| 1165 |
+
],
|
| 1166 |
+
"manipulating_object_id": [
|
| 1167 |
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|
| 1168 |
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|
| 1169 |
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|
| 1170 |
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|
| 1171 |
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[],
|
| 1172 |
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[
|
| 1173 |
+
[],
|
| 1174 |
+
[],
|
| 1175 |
+
[
|
| 1176 |
+
"in_front_of"
|
| 1177 |
+
]
|
| 1178 |
+
]
|
| 1179 |
+
],
|
| 1180 |
+
"frame_duration": [
|
| 1181 |
+
11056,
|
| 1182 |
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12161
|
| 1183 |
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],
|
| 1184 |
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"skill_idxes": [
|
| 1185 |
+
24,
|
| 1186 |
+
25,
|
| 1187 |
+
26,
|
| 1188 |
+
27,
|
| 1189 |
+
28
|
| 1190 |
+
]
|
| 1191 |
},
|
| 1192 |
{
|
| 1193 |
"primitive_idx": 7,
|
| 1194 |
+
"primitive_id": [
|
| 1195 |
+
2,
|
| 1196 |
+
91
|
| 1197 |
+
],
|
| 1198 |
+
"primitive_description": [
|
| 1199 |
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|
| 1200 |
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"place on next to"
|
| 1201 |
+
],
|
| 1202 |
+
"object_id": [
|
| 1203 |
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[
|
| 1204 |
+
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|
| 1205 |
+
"floors_uzsntg_0"
|
| 1206 |
+
],
|
| 1207 |
+
[
|
| 1208 |
+
"gift_box_220",
|
| 1209 |
+
"floors_uzsntg_0",
|
| 1210 |
+
"christmas_tree_228"
|
| 1211 |
+
]
|
| 1212 |
+
],
|
| 1213 |
+
"manipulating_object_id": [
|
| 1214 |
+
"gift_box_220",
|
| 1215 |
+
"gift_box_220"
|
| 1216 |
+
],
|
| 1217 |
+
"spatial_prefix": [
|
| 1218 |
+
[],
|
| 1219 |
+
[
|
| 1220 |
+
[],
|
| 1221 |
+
[],
|
| 1222 |
+
[
|
| 1223 |
+
"in_front_of"
|
| 1224 |
+
]
|
| 1225 |
+
]
|
| 1226 |
+
],
|
| 1227 |
+
"frame_duration": [
|
| 1228 |
+
12162,
|
| 1229 |
+
13155
|
| 1230 |
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],
|
| 1231 |
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|
| 1232 |
+
29,
|
| 1233 |
+
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|
| 1234 |
+
31,
|
| 1235 |
+
32
|
| 1236 |
+
]
|
| 1237 |
}
|
| 1238 |
]
|
| 1239 |
}
|
annotations/task-0031/episode_00310010.json
ADDED
|
@@ -0,0 +1,457 @@
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|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
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|
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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": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12983,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
12983
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
612
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
612,
|
| 53 |
+
2629
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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"skill_id": [
|
| 63 |
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1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"boxing_gloves_188"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
2629,
|
| 77 |
+
3427
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
93
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"turn to"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
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[
|
| 94 |
+
"boxing_gloves_188",
|
| 95 |
+
"robot"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"boxing_gloves_188"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [
|
| 102 |
+
[
|
| 103 |
+
"",
|
| 104 |
+
"face_away"
|
| 105 |
+
]
|
| 106 |
+
],
|
| 107 |
+
"frame_duration": [
|
| 108 |
+
3427,
|
| 109 |
+
5062
|
| 110 |
+
],
|
| 111 |
+
"mp_ef": [],
|
| 112 |
+
"skill_type": [
|
| 113 |
+
"uncoordinated"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"skill_idx": 4,
|
| 118 |
+
"skill_id": [
|
| 119 |
+
93
|
| 120 |
+
],
|
| 121 |
+
"skill_description": [
|
| 122 |
+
"turn to"
|
| 123 |
+
],
|
| 124 |
+
"object_id": [
|
| 125 |
+
[
|
| 126 |
+
"boxing_gloves_189",
|
| 127 |
+
"robot"
|
| 128 |
+
]
|
| 129 |
+
],
|
| 130 |
+
"manipulating_object_id": [
|
| 131 |
+
"boxing_gloves_189"
|
| 132 |
+
],
|
| 133 |
+
"spatial_prefix": [
|
| 134 |
+
[
|
| 135 |
+
"",
|
| 136 |
+
"face_away"
|
| 137 |
+
]
|
| 138 |
+
],
|
| 139 |
+
"frame_duration": [
|
| 140 |
+
5063,
|
| 141 |
+
6083
|
| 142 |
+
],
|
| 143 |
+
"mp_ef": [],
|
| 144 |
+
"skill_type": [
|
| 145 |
+
"uncoordinated"
|
| 146 |
+
]
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"skill_idx": 5,
|
| 150 |
+
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|
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|
| 457 |
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}
|
annotations/task-0031/episode_00310020.json
ADDED
|
@@ -0,0 +1,457 @@
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| 407 |
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},
|
| 408 |
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{
|
| 409 |
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"primitive_idx": 2,
|
| 410 |
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"primitive_id": [
|
| 411 |
+
12
|
| 412 |
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],
|
| 413 |
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"primitive_description": [
|
| 414 |
+
"close door"
|
| 415 |
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],
|
| 416 |
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"object_id": [
|
| 417 |
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[
|
| 418 |
+
"washer_ynwamu_0"
|
| 419 |
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]
|
| 420 |
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],
|
| 421 |
+
"manipulating_object_id": [],
|
| 422 |
+
"spatial_prefix": [],
|
| 423 |
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"frame_duration": [
|
| 424 |
+
6602,
|
| 425 |
+
7190
|
| 426 |
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],
|
| 427 |
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"skill_idxes": [
|
| 428 |
+
10
|
| 429 |
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]
|
| 430 |
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},
|
| 431 |
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{
|
| 432 |
+
"primitive_idx": 3,
|
| 433 |
+
"primitive_id": [
|
| 434 |
+
69
|
| 435 |
+
],
|
| 436 |
+
"primitive_description": [
|
| 437 |
+
"turn on switch"
|
| 438 |
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],
|
| 439 |
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"object_id": [
|
| 440 |
+
[
|
| 441 |
+
"washer_ynwamu_0"
|
| 442 |
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]
|
| 443 |
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],
|
| 444 |
+
"manipulating_object_id": [
|
| 445 |
+
"washer_ynwamu_0"
|
| 446 |
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],
|
| 447 |
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"spatial_prefix": [],
|
| 448 |
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"frame_duration": [
|
| 449 |
+
7190,
|
| 450 |
+
7961
|
| 451 |
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],
|
| 452 |
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"skill_idxes": [
|
| 453 |
+
11
|
| 454 |
+
]
|
| 455 |
+
}
|
| 456 |
+
]
|
| 457 |
+
}
|
annotations/task-0031/episode_00310030.json
ADDED
|
@@ -0,0 +1,424 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12042,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
12042
|
| 9 |
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]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
269
|
| 30 |
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],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
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"object_id": [
|
| 45 |
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[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
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],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
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|
| 51 |
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"frame_duration": [
|
| 52 |
+
269,
|
| 53 |
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2149
|
| 54 |
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],
|
| 55 |
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"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
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"coordinated"
|
| 58 |
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]
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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"skill_id": [
|
| 63 |
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1
|
| 64 |
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],
|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"boxing_gloves_189"
|
| 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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2149,
|
| 77 |
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2912
|
| 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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2
|
| 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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"object_id": [
|
| 93 |
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[
|
| 94 |
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"boxing_gloves_189",
|
| 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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2912,
|
| 104 |
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3847
|
| 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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"skill_idx": 4,
|
| 113 |
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|
| 114 |
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93
|
| 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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"boxing_gloves_188",
|
| 122 |
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"robot"
|
| 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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"face_away"
|
| 132 |
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]
|
| 133 |
+
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|
| 134 |
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|
| 135 |
+
3848,
|
| 136 |
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5503
|
| 137 |
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|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": [
|
| 140 |
+
"uncoordinated"
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"skill_idx": 5,
|
| 145 |
+
"skill_id": [
|
| 146 |
+
2
|
| 147 |
+
],
|
| 148 |
+
"skill_description": [
|
| 149 |
+
"pick up from"
|
| 150 |
+
],
|
| 151 |
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"object_id": [
|
| 152 |
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[
|
| 153 |
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"boxing_gloves_188",
|
| 154 |
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"countertop_sjxber_0"
|
| 155 |
+
]
|
| 156 |
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],
|
| 157 |
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"manipulating_object_id": [
|
| 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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5504,
|
| 163 |
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6212
|
| 164 |
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|
| 165 |
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|
| 166 |
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"skill_type": [
|
| 167 |
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"uncoordinated"
|
| 168 |
+
]
|
| 169 |
+
},
|
| 170 |
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{
|
| 171 |
+
"skill_idx": 6,
|
| 172 |
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|
| 173 |
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1
|
| 174 |
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],
|
| 175 |
+
"skill_description": [
|
| 176 |
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"move to"
|
| 177 |
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],
|
| 178 |
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"object_id": [
|
| 179 |
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[
|
| 180 |
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"washer_ynwamu_0"
|
| 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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6213,
|
| 187 |
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7171
|
| 188 |
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],
|
| 189 |
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"mp_ef": [],
|
| 190 |
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"skill_type": [
|
| 191 |
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"navigation"
|
| 192 |
+
]
|
| 193 |
+
},
|
| 194 |
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{
|
| 195 |
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"skill_idx": 7,
|
| 196 |
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"skill_id": [
|
| 197 |
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4
|
| 198 |
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],
|
| 199 |
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"skill_description": [
|
| 200 |
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"place in"
|
| 201 |
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],
|
| 202 |
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"object_id": [
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| 203 |
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| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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| 209 |
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| 212 |
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| 213 |
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| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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| 222 |
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|
| 223 |
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| 227 |
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|
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|
| 423 |
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|
| 424 |
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}
|
annotations/task-0031/episode_00310040.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12449,
|
| 6 |
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"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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12449
|
| 9 |
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]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
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| 457 |
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}
|
annotations/task-0031/episode_00310060.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 457 |
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}
|
annotations/task-0031/episode_00310070.json
ADDED
|
@@ -0,0 +1,366 @@
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|
| 1 |
+
{
|
| 2 |
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"task_name": "clean boxing gloves",
|
| 3 |
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"data_folder": "",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 12 |
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|
| 13 |
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|
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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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| 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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{
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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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|
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|
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|
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|
| 365 |
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|
| 366 |
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}
|
annotations/task-0031/episode_00310080.json
ADDED
|
@@ -0,0 +1,424 @@
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| 402 |
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|
| 404 |
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|
| 405 |
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|
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| 408 |
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|
| 411 |
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|
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| 415 |
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|
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|
| 422 |
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|
| 423 |
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|
| 424 |
+
}
|
annotations/task-0031/episode_00310100.json
ADDED
|
@@ -0,0 +1,482 @@
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 262 |
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|
| 263 |
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|
| 264 |
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| 265 |
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|
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| 268 |
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| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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| 280 |
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|
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| 283 |
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|
| 284 |
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| 427 |
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|
| 428 |
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|
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|
| 430 |
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|
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| 433 |
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|
| 440 |
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| 441 |
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|
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|
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|
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|
| 457 |
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|
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|
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| 462 |
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|
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| 465 |
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|
| 469 |
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|
| 471 |
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|
| 472 |
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|
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|
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|
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|
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|
| 477 |
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|
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|
| 479 |
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|
| 480 |
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|
| 481 |
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]
|
| 482 |
+
}
|
annotations/task-0031/episode_00310110.json
ADDED
|
@@ -0,0 +1,515 @@
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| 464 |
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]
|
| 465 |
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},
|
| 466 |
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{
|
| 467 |
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"primitive_idx": 2,
|
| 468 |
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"primitive_id": [
|
| 469 |
+
12
|
| 470 |
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],
|
| 471 |
+
"primitive_description": [
|
| 472 |
+
"close door"
|
| 473 |
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],
|
| 474 |
+
"object_id": [
|
| 475 |
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[
|
| 476 |
+
"washer_ynwamu_0"
|
| 477 |
+
]
|
| 478 |
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],
|
| 479 |
+
"manipulating_object_id": [],
|
| 480 |
+
"spatial_prefix": [],
|
| 481 |
+
"frame_duration": [
|
| 482 |
+
8957,
|
| 483 |
+
10329
|
| 484 |
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],
|
| 485 |
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"skill_idxes": [
|
| 486 |
+
12
|
| 487 |
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]
|
| 488 |
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},
|
| 489 |
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{
|
| 490 |
+
"primitive_idx": 3,
|
| 491 |
+
"primitive_id": [
|
| 492 |
+
69
|
| 493 |
+
],
|
| 494 |
+
"primitive_description": [
|
| 495 |
+
"turn on switch"
|
| 496 |
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],
|
| 497 |
+
"object_id": [
|
| 498 |
+
[
|
| 499 |
+
"washer_ynwamu_0"
|
| 500 |
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]
|
| 501 |
+
],
|
| 502 |
+
"manipulating_object_id": [
|
| 503 |
+
"washer_ynwamu_0"
|
| 504 |
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],
|
| 505 |
+
"spatial_prefix": [],
|
| 506 |
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"frame_duration": [
|
| 507 |
+
10330,
|
| 508 |
+
10710
|
| 509 |
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],
|
| 510 |
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"skill_idxes": [
|
| 511 |
+
13
|
| 512 |
+
]
|
| 513 |
+
}
|
| 514 |
+
]
|
| 515 |
+
}
|
annotations/task-0031/episode_00310120.json
ADDED
|
@@ -0,0 +1,424 @@
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12245,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
12245
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
831
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
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[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
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"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
831,
|
| 53 |
+
2588
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
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{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
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],
|
| 65 |
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|
| 66 |
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"move to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"boxing_gloves_188"
|
| 71 |
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]
|
| 72 |
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],
|
| 73 |
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"manipulating_object_id": [],
|
| 74 |
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|
| 75 |
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"frame_duration": [
|
| 76 |
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2588,
|
| 77 |
+
3440
|
| 78 |
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],
|
| 79 |
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"mp_ef": [],
|
| 80 |
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"skill_type": [
|
| 81 |
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"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
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{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
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|
| 87 |
+
2
|
| 88 |
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],
|
| 89 |
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"skill_description": [
|
| 90 |
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"pick up from"
|
| 91 |
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],
|
| 92 |
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"object_id": [
|
| 93 |
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[
|
| 94 |
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"boxing_gloves_188",
|
| 95 |
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|
| 96 |
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]
|
| 97 |
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],
|
| 98 |
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"manipulating_object_id": [
|
| 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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3440,
|
| 104 |
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4317
|
| 105 |
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|
| 106 |
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"mp_ef": [],
|
| 107 |
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"skill_type": [
|
| 108 |
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|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
+
{
|
| 112 |
+
"skill_idx": 4,
|
| 113 |
+
"skill_id": [
|
| 114 |
+
93
|
| 115 |
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],
|
| 116 |
+
"skill_description": [
|
| 117 |
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"turn to"
|
| 118 |
+
],
|
| 119 |
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"object_id": [
|
| 120 |
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[
|
| 121 |
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"boxing_gloves_189",
|
| 122 |
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"robot"
|
| 123 |
+
]
|
| 124 |
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],
|
| 125 |
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"manipulating_object_id": [
|
| 126 |
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"boxing_gloves_189"
|
| 127 |
+
],
|
| 128 |
+
"spatial_prefix": [
|
| 129 |
+
[
|
| 130 |
+
"",
|
| 131 |
+
"face_away"
|
| 132 |
+
]
|
| 133 |
+
],
|
| 134 |
+
"frame_duration": [
|
| 135 |
+
4317,
|
| 136 |
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4871
|
| 137 |
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],
|
| 138 |
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"mp_ef": [],
|
| 139 |
+
"skill_type": [
|
| 140 |
+
"uncoordinated"
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"skill_idx": 5,
|
| 145 |
+
"skill_id": [
|
| 146 |
+
2
|
| 147 |
+
],
|
| 148 |
+
"skill_description": [
|
| 149 |
+
"pick up from"
|
| 150 |
+
],
|
| 151 |
+
"object_id": [
|
| 152 |
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[
|
| 153 |
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"boxing_gloves_189",
|
| 154 |
+
"countertop_sjxber_0"
|
| 155 |
+
]
|
| 156 |
+
],
|
| 157 |
+
"manipulating_object_id": [
|
| 158 |
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"boxing_gloves_189"
|
| 159 |
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],
|
| 160 |
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|
| 161 |
+
"frame_duration": [
|
| 162 |
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4871,
|
| 163 |
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5222
|
| 164 |
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],
|
| 165 |
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"mp_ef": [],
|
| 166 |
+
"skill_type": [
|
| 167 |
+
"uncoordinated"
|
| 168 |
+
]
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"skill_idx": 6,
|
| 172 |
+
"skill_id": [
|
| 173 |
+
1
|
| 174 |
+
],
|
| 175 |
+
"skill_description": [
|
| 176 |
+
"move to"
|
| 177 |
+
],
|
| 178 |
+
"object_id": [
|
| 179 |
+
[
|
| 180 |
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"washer_ynwamu_0"
|
| 181 |
+
]
|
| 182 |
+
],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
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|
| 185 |
+
"frame_duration": [
|
| 186 |
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5222,
|
| 187 |
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6219
|
| 188 |
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],
|
| 189 |
+
"mp_ef": [],
|
| 190 |
+
"skill_type": [
|
| 191 |
+
"navigation"
|
| 192 |
+
]
|
| 193 |
+
},
|
| 194 |
+
{
|
| 195 |
+
"skill_idx": 7,
|
| 196 |
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"skill_id": [
|
| 197 |
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4
|
| 198 |
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],
|
| 199 |
+
"skill_description": [
|
| 200 |
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"place in"
|
| 201 |
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],
|
| 202 |
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| 204 |
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| 206 |
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|
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|
| 208 |
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|
| 209 |
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| 212 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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| 222 |
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|
| 223 |
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| 227 |
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|
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| 411 |
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|
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|
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|
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|
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|
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|
| 422 |
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|
| 423 |
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|
| 424 |
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}
|
annotations/task-0031/episode_00310130.json
ADDED
|
@@ -0,0 +1,482 @@
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]
|
| 480 |
+
}
|
| 481 |
+
]
|
| 482 |
+
}
|
annotations/task-0031/episode_00310140.json
ADDED
|
@@ -0,0 +1,457 @@
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|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
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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": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14340,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
14340
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
633
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
633,
|
| 53 |
+
2635
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"boxing_gloves_189"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
2635,
|
| 77 |
+
3511
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
93
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"turn to"
|
| 91 |
+
],
|
| 92 |
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"object_id": [
|
| 93 |
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[
|
| 94 |
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"boxing_gloves_189",
|
| 95 |
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"robot"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
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"manipulating_object_id": [
|
| 99 |
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"boxing_gloves_189"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [
|
| 102 |
+
[
|
| 103 |
+
"",
|
| 104 |
+
"face_away"
|
| 105 |
+
]
|
| 106 |
+
],
|
| 107 |
+
"frame_duration": [
|
| 108 |
+
3511,
|
| 109 |
+
4705
|
| 110 |
+
],
|
| 111 |
+
"mp_ef": [],
|
| 112 |
+
"skill_type": [
|
| 113 |
+
"uncoordinated"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"skill_idx": 4,
|
| 118 |
+
"skill_id": [
|
| 119 |
+
93
|
| 120 |
+
],
|
| 121 |
+
"skill_description": [
|
| 122 |
+
"turn to"
|
| 123 |
+
],
|
| 124 |
+
"object_id": [
|
| 125 |
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[
|
| 126 |
+
"boxing_gloves_188",
|
| 127 |
+
"robot"
|
| 128 |
+
]
|
| 129 |
+
],
|
| 130 |
+
"manipulating_object_id": [
|
| 131 |
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"boxing_gloves_188"
|
| 132 |
+
],
|
| 133 |
+
"spatial_prefix": [
|
| 134 |
+
[
|
| 135 |
+
"",
|
| 136 |
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"face_away"
|
| 137 |
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]
|
| 138 |
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],
|
| 139 |
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"frame_duration": [
|
| 140 |
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4705,
|
| 141 |
+
5588
|
| 142 |
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],
|
| 143 |
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"mp_ef": [],
|
| 144 |
+
"skill_type": [
|
| 145 |
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"uncoordinated"
|
| 146 |
+
]
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"skill_idx": 5,
|
| 150 |
+
"skill_id": [
|
| 151 |
+
2
|
| 152 |
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],
|
| 153 |
+
"skill_description": [
|
| 154 |
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"pick up from"
|
| 155 |
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],
|
| 156 |
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"object_id": [
|
| 157 |
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[
|
| 158 |
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"boxing_gloves_188",
|
| 159 |
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"countertop_sjxber_0"
|
| 160 |
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]
|
| 161 |
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],
|
| 162 |
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"manipulating_object_id": [
|
| 163 |
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"boxing_gloves_188"
|
| 164 |
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],
|
| 165 |
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|
| 166 |
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"frame_duration": [
|
| 167 |
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5588,
|
| 168 |
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5930
|
| 169 |
+
],
|
| 170 |
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"mp_ef": [],
|
| 171 |
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"skill_type": [
|
| 172 |
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"uncoordinated"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
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{
|
| 176 |
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"skill_idx": 6,
|
| 177 |
+
"skill_id": [
|
| 178 |
+
2
|
| 179 |
+
],
|
| 180 |
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"skill_description": [
|
| 181 |
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"pick up from"
|
| 182 |
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],
|
| 183 |
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"object_id": [
|
| 184 |
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[
|
| 185 |
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"boxing_gloves_189",
|
| 186 |
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"countertop_sjxber_0"
|
| 187 |
+
]
|
| 188 |
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],
|
| 189 |
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"manipulating_object_id": [
|
| 190 |
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|
| 191 |
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],
|
| 192 |
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|
| 193 |
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"frame_duration": [
|
| 194 |
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5930,
|
| 195 |
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7649
|
| 196 |
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],
|
| 197 |
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"mp_ef": [],
|
| 198 |
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"skill_type": [
|
| 199 |
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"uncoordinated"
|
| 200 |
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]
|
| 201 |
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},
|
| 202 |
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{
|
| 203 |
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"skill_idx": 7,
|
| 204 |
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|
| 205 |
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1
|
| 206 |
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],
|
| 207 |
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"skill_description": [
|
| 208 |
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"move to"
|
| 209 |
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],
|
| 210 |
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"object_id": [
|
| 211 |
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[
|
| 212 |
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"washer_ynwamu_0"
|
| 213 |
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]
|
| 214 |
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],
|
| 215 |
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"manipulating_object_id": [],
|
| 216 |
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|
| 217 |
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|
| 218 |
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7650,
|
| 219 |
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8670
|
| 220 |
+
],
|
| 221 |
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"mp_ef": [],
|
| 222 |
+
"skill_type": [
|
| 223 |
+
"navigation"
|
| 224 |
+
]
|
| 225 |
+
},
|
| 226 |
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{
|
| 227 |
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"skill_idx": 8,
|
| 228 |
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"skill_id": [
|
| 229 |
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4
|
| 230 |
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],
|
| 231 |
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"skill_description": [
|
| 232 |
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"place in"
|
| 233 |
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| 234 |
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| 235 |
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| 236 |
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| 238 |
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|
| 239 |
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| 240 |
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| 241 |
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| 244 |
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| 245 |
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| 249 |
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|
| 250 |
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| 251 |
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|
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|
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|
| 455 |
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|
| 456 |
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|
| 457 |
+
}
|
annotations/task-0031/episode_00310150.json
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 10955,
|
| 6 |
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"valid_duration": [
|
| 7 |
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|
| 8 |
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10955
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
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[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
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"manipulating_object_id": [],
|
| 26 |
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|
| 27 |
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"frame_duration": [
|
| 28 |
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0,
|
| 29 |
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594
|
| 30 |
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],
|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
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]
|
| 35 |
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},
|
| 36 |
+
{
|
| 37 |
+
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|
| 38 |
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"skill_id": [
|
| 39 |
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10
|
| 40 |
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],
|
| 41 |
+
"skill_description": [
|
| 42 |
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"open door"
|
| 43 |
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],
|
| 44 |
+
"object_id": [
|
| 45 |
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[
|
| 46 |
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|
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|
| 391 |
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}
|
annotations/task-0031/episode_00310160.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 369 |
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"boxing_gloves_189",
|
| 370 |
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|
| 371 |
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|
| 372 |
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"countertop_sjxber_0"
|
| 373 |
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| 374 |
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|
| 375 |
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[
|
| 376 |
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|
| 377 |
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|
| 378 |
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| 379 |
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|
| 380 |
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| 381 |
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| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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| 387 |
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[
|
| 388 |
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|
| 389 |
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| 390 |
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|
| 399 |
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|
| 400 |
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| 401 |
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| 402 |
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|
| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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|
| 408 |
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|
| 409 |
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|
| 410 |
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|
| 411 |
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|
| 412 |
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|
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|
| 414 |
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|
| 415 |
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| 416 |
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"object_id": [
|
| 417 |
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[
|
| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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|
| 422 |
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|
| 423 |
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|
| 424 |
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10105,
|
| 425 |
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|
| 426 |
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|
| 427 |
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|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 431 |
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{
|
| 432 |
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"primitive_idx": 3,
|
| 433 |
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"primitive_id": [
|
| 434 |
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69
|
| 435 |
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],
|
| 436 |
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"primitive_description": [
|
| 437 |
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"turn on switch"
|
| 438 |
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],
|
| 439 |
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"object_id": [
|
| 440 |
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[
|
| 441 |
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"washer_ynwamu_0"
|
| 442 |
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|
| 443 |
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],
|
| 444 |
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"manipulating_object_id": [
|
| 445 |
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"washer_ynwamu_0"
|
| 446 |
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],
|
| 447 |
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"spatial_prefix": [],
|
| 448 |
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"frame_duration": [
|
| 449 |
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|
| 450 |
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|
| 451 |
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],
|
| 452 |
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|
| 453 |
+
11
|
| 454 |
+
]
|
| 455 |
+
}
|
| 456 |
+
]
|
| 457 |
+
}
|
annotations/task-0031/episode_00310170.json
ADDED
|
@@ -0,0 +1,399 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10785,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
10785
|
| 9 |
+
]
|
| 10 |
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},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
10
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"open door"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
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"manipulating_object_id": [],
|
| 26 |
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|
| 27 |
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"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
2166
|
| 30 |
+
],
|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 33 |
+
"coordinated"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
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"skill_id": [
|
| 39 |
+
1
|
| 40 |
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],
|
| 41 |
+
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|
| 42 |
+
"move to"
|
| 43 |
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|
| 44 |
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"object_id": [
|
| 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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"manipulating_object_id": [],
|
| 50 |
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|
| 51 |
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|
| 52 |
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2166,
|
| 53 |
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2859
|
| 54 |
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],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
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|
| 57 |
+
"navigation"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
93
|
| 64 |
+
],
|
| 65 |
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"skill_description": [
|
| 66 |
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"turn to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"boxing_gloves_189",
|
| 71 |
+
"robot"
|
| 72 |
+
]
|
| 73 |
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],
|
| 74 |
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"manipulating_object_id": [
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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[
|
| 79 |
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"",
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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{
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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[
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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{
|
| 120 |
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|
| 121 |
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|
| 122 |
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2
|
| 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 |
+
"skill_idx": 5,
|
| 148 |
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|
| 149 |
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1
|
| 150 |
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],
|
| 151 |
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|
| 152 |
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"move to"
|
| 153 |
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|
| 154 |
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|
| 155 |
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[
|
| 156 |
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"washer_ynwamu_0"
|
| 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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4445,
|
| 163 |
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5311
|
| 164 |
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],
|
| 165 |
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"mp_ef": [],
|
| 166 |
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"skill_type": [
|
| 167 |
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"navigation"
|
| 168 |
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]
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"skill_idx": 6,
|
| 172 |
+
"skill_id": [
|
| 173 |
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4
|
| 174 |
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],
|
| 175 |
+
"skill_description": [
|
| 176 |
+
"place in"
|
| 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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| 185 |
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| 194 |
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|
| 398 |
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|
| 399 |
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}
|
annotations/task-0031/episode_00310180.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 7515,
|
| 6 |
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"valid_duration": [
|
| 7 |
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|
| 8 |
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7515
|
| 9 |
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|
| 10 |
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},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
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|
| 457 |
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}
|
annotations/task-0031/episode_00310190.json
ADDED
|
@@ -0,0 +1,457 @@
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|
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|
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|
| 456 |
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|
| 457 |
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}
|
annotations/task-0031/episode_00310200.json
ADDED
|
@@ -0,0 +1,424 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 12617,
|
| 6 |
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"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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12617
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
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1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
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"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
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0,
|
| 29 |
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333
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
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],
|
| 49 |
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"manipulating_object_id": [],
|
| 50 |
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|
| 51 |
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"frame_duration": [
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| 52 |
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333,
|
| 53 |
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2041
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| 54 |
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],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
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"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
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"skill_id": [
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| 63 |
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1
|
| 64 |
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],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
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|
| 424 |
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}
|
annotations/task-0031/episode_00310210.json
ADDED
|
@@ -0,0 +1,424 @@
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]
|
| 374 |
+
},
|
| 375 |
+
{
|
| 376 |
+
"primitive_idx": 2,
|
| 377 |
+
"primitive_id": [
|
| 378 |
+
12
|
| 379 |
+
],
|
| 380 |
+
"primitive_description": [
|
| 381 |
+
"close door"
|
| 382 |
+
],
|
| 383 |
+
"object_id": [
|
| 384 |
+
[
|
| 385 |
+
"washer_ynwamu_0"
|
| 386 |
+
]
|
| 387 |
+
],
|
| 388 |
+
"manipulating_object_id": [],
|
| 389 |
+
"spatial_prefix": [],
|
| 390 |
+
"frame_duration": [
|
| 391 |
+
10515,
|
| 392 |
+
12250
|
| 393 |
+
],
|
| 394 |
+
"skill_idxes": [
|
| 395 |
+
9
|
| 396 |
+
]
|
| 397 |
+
},
|
| 398 |
+
{
|
| 399 |
+
"primitive_idx": 3,
|
| 400 |
+
"primitive_id": [
|
| 401 |
+
69
|
| 402 |
+
],
|
| 403 |
+
"primitive_description": [
|
| 404 |
+
"turn on switch"
|
| 405 |
+
],
|
| 406 |
+
"object_id": [
|
| 407 |
+
[
|
| 408 |
+
"washer_ynwamu_0"
|
| 409 |
+
]
|
| 410 |
+
],
|
| 411 |
+
"manipulating_object_id": [
|
| 412 |
+
"washer_ynwamu_0"
|
| 413 |
+
],
|
| 414 |
+
"spatial_prefix": [],
|
| 415 |
+
"frame_duration": [
|
| 416 |
+
12250,
|
| 417 |
+
12692
|
| 418 |
+
],
|
| 419 |
+
"skill_idxes": [
|
| 420 |
+
10
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
]
|
| 424 |
+
}
|
annotations/task-0031/episode_00310220.json
ADDED
|
@@ -0,0 +1,457 @@
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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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": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7152,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
7152
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
649
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
649,
|
| 53 |
+
1643
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"boxing_gloves_188"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
1643,
|
| 77 |
+
2073
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
93
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"turn to"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
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[
|
| 94 |
+
"boxing_gloves_188",
|
| 95 |
+
"robot"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"boxing_gloves_188"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [
|
| 102 |
+
[
|
| 103 |
+
"",
|
| 104 |
+
"face_away"
|
| 105 |
+
]
|
| 106 |
+
],
|
| 107 |
+
"frame_duration": [
|
| 108 |
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2073,
|
| 109 |
+
2642
|
| 110 |
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],
|
| 111 |
+
"mp_ef": [],
|
| 112 |
+
"skill_type": [
|
| 113 |
+
"coordinated"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"skill_idx": 4,
|
| 118 |
+
"skill_id": [
|
| 119 |
+
2
|
| 120 |
+
],
|
| 121 |
+
"skill_description": [
|
| 122 |
+
"pick up from"
|
| 123 |
+
],
|
| 124 |
+
"object_id": [
|
| 125 |
+
[
|
| 126 |
+
"boxing_gloves_188",
|
| 127 |
+
"countertop_sjxber_0"
|
| 128 |
+
]
|
| 129 |
+
],
|
| 130 |
+
"manipulating_object_id": [
|
| 131 |
+
"boxing_gloves_188"
|
| 132 |
+
],
|
| 133 |
+
"spatial_prefix": [],
|
| 134 |
+
"frame_duration": [
|
| 135 |
+
2642,
|
| 136 |
+
3109
|
| 137 |
+
],
|
| 138 |
+
"mp_ef": [],
|
| 139 |
+
"skill_type": [
|
| 140 |
+
"uncoordinated"
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"skill_idx": 5,
|
| 145 |
+
"skill_id": [
|
| 146 |
+
93
|
| 147 |
+
],
|
| 148 |
+
"skill_description": [
|
| 149 |
+
"turn to"
|
| 150 |
+
],
|
| 151 |
+
"object_id": [
|
| 152 |
+
[
|
| 153 |
+
"boxing_gloves_189",
|
| 154 |
+
"robot"
|
| 155 |
+
]
|
| 156 |
+
],
|
| 157 |
+
"manipulating_object_id": [
|
| 158 |
+
"boxing_gloves_189"
|
| 159 |
+
],
|
| 160 |
+
"spatial_prefix": [
|
| 161 |
+
[
|
| 162 |
+
"",
|
| 163 |
+
"face_away"
|
| 164 |
+
]
|
| 165 |
+
],
|
| 166 |
+
"frame_duration": [
|
| 167 |
+
3109,
|
| 168 |
+
3808
|
| 169 |
+
],
|
| 170 |
+
"mp_ef": [],
|
| 171 |
+
"skill_type": [
|
| 172 |
+
"uncoordinated"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"skill_idx": 6,
|
| 177 |
+
"skill_id": [
|
| 178 |
+
2
|
| 179 |
+
],
|
| 180 |
+
"skill_description": [
|
| 181 |
+
"pick up from"
|
| 182 |
+
],
|
| 183 |
+
"object_id": [
|
| 184 |
+
[
|
| 185 |
+
"boxing_gloves_189",
|
| 186 |
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|
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|
| 456 |
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|
| 457 |
+
}
|
annotations/task-0031/episode_00310230.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 444 |
+
"manipulating_object_id": [
|
| 445 |
+
"washer_ynwamu_0"
|
| 446 |
+
],
|
| 447 |
+
"spatial_prefix": [],
|
| 448 |
+
"frame_duration": [
|
| 449 |
+
6165,
|
| 450 |
+
6420
|
| 451 |
+
],
|
| 452 |
+
"skill_idxes": [
|
| 453 |
+
11
|
| 454 |
+
]
|
| 455 |
+
}
|
| 456 |
+
]
|
| 457 |
+
}
|
annotations/task-0031/episode_00310240.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13193,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
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13193
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
+
"object_id": [
|
| 21 |
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[
|
| 22 |
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"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
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"frame_duration": [
|
| 28 |
+
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|
| 29 |
+
760
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
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{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
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"skill_id": [
|
| 39 |
+
10
|
| 40 |
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],
|
| 41 |
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"skill_description": [
|
| 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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93
|
| 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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|
| 174 |
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|
| 175 |
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{
|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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| 194 |
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|
| 195 |
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|
| 197 |
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|
| 198 |
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| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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{
|
| 203 |
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|
| 204 |
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| 205 |
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|
| 206 |
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|
| 207 |
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| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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| 218 |
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|
| 219 |
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| 220 |
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|
| 221 |
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|
| 222 |
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| 223 |
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| 224 |
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| 232 |
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|
| 457 |
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}
|
annotations/task-0031/episode_00310250.json
ADDED
|
@@ -0,0 +1,424 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 13062,
|
| 6 |
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|
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|
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13062
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|
| 10 |
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| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 16 |
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],
|
| 17 |
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"skill_description": [
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| 424 |
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}
|
annotations/task-0031/episode_00310270.json
ADDED
|
@@ -0,0 +1,457 @@
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| 308 |
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| 309 |
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| 310 |
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| 314 |
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| 317 |
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|
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|
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|
| 456 |
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|
| 457 |
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}
|
annotations/task-0031/episode_00310290.json
ADDED
|
@@ -0,0 +1,424 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 12558,
|
| 6 |
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|
| 7 |
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0,
|
| 8 |
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12558
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| 9 |
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|
| 10 |
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},
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| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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|
| 15 |
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1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
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"move to"
|
| 19 |
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|
| 20 |
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"object_id": [
|
| 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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"manipulating_object_id": [],
|
| 26 |
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|
| 27 |
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"frame_duration": [
|
| 28 |
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0,
|
| 29 |
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689
|
| 30 |
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|
| 31 |
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"mp_ef": [],
|
| 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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10
|
| 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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2671
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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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2
|
| 88 |
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|
| 89 |
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"skill_description": [
|
| 90 |
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"pick up from"
|
| 91 |
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|
| 92 |
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"object_id": [
|
| 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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|
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|
| 424 |
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}
|
annotations/task-0031/episode_00310300.json
ADDED
|
@@ -0,0 +1,424 @@
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"manipulating_object_id": [
|
| 412 |
+
"washer_ynwamu_0"
|
| 413 |
+
],
|
| 414 |
+
"spatial_prefix": [],
|
| 415 |
+
"frame_duration": [
|
| 416 |
+
10387,
|
| 417 |
+
10960
|
| 418 |
+
],
|
| 419 |
+
"skill_idxes": [
|
| 420 |
+
10
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
]
|
| 424 |
+
}
|
annotations/task-0031/episode_00310310.json
ADDED
|
@@ -0,0 +1,424 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 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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"object_id": [
|
| 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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"manipulating_object_id": [],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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571
|
| 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 |
+
10
|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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[
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 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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| 161 |
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| 162 |
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| 164 |
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| 165 |
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|
| 166 |
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| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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| 180 |
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|
| 181 |
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| 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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|
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| 200 |
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| 202 |
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| 204 |
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|
| 205 |
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|
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|
| 207 |
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|
| 208 |
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|
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| 212 |
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| 213 |
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| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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|
| 223 |
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|
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|
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| 229 |
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|
| 230 |
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| 231 |
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| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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| 236 |
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| 237 |
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| 238 |
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| 295 |
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|
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|
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|
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|
| 422 |
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|
| 423 |
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|
| 424 |
+
}
|
annotations/task-0031/episode_00310320.json
ADDED
|
@@ -0,0 +1,424 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13982,
|
| 6 |
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"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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13982
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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"skill_idx": 0,
|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
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"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
710
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
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[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
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]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
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|
| 51 |
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"frame_duration": [
|
| 52 |
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710,
|
| 53 |
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2619
|
| 54 |
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],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
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|
| 62 |
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"skill_id": [
|
| 63 |
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1
|
| 64 |
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],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
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}
|
annotations/task-0031/episode_00310330.json
ADDED
|
@@ -0,0 +1,391 @@
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}
|
annotations/task-0031/episode_00310350.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12442,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
124,
|
| 8 |
+
12566
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
124,
|
| 29 |
+
629
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
| 50 |
+
"spatial_prefix": [],
|
| 51 |
+
"frame_duration": [
|
| 52 |
+
629,
|
| 53 |
+
2255
|
| 54 |
+
],
|
| 55 |
+
"mp_ef": [],
|
| 56 |
+
"skill_type": [
|
| 57 |
+
"coordinated"
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"skill_idx": 2,
|
| 62 |
+
"skill_id": [
|
| 63 |
+
1
|
| 64 |
+
],
|
| 65 |
+
"skill_description": [
|
| 66 |
+
"move to"
|
| 67 |
+
],
|
| 68 |
+
"object_id": [
|
| 69 |
+
[
|
| 70 |
+
"boxing_gloves_189"
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"manipulating_object_id": [],
|
| 74 |
+
"spatial_prefix": [],
|
| 75 |
+
"frame_duration": [
|
| 76 |
+
2255,
|
| 77 |
+
3031
|
| 78 |
+
],
|
| 79 |
+
"mp_ef": [],
|
| 80 |
+
"skill_type": [
|
| 81 |
+
"navigation"
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"skill_idx": 3,
|
| 86 |
+
"skill_id": [
|
| 87 |
+
93
|
| 88 |
+
],
|
| 89 |
+
"skill_description": [
|
| 90 |
+
"turn to"
|
| 91 |
+
],
|
| 92 |
+
"object_id": [
|
| 93 |
+
[
|
| 94 |
+
"boxing_gloves_189",
|
| 95 |
+
"robot"
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"manipulating_object_id": [
|
| 99 |
+
"boxing_gloves_189"
|
| 100 |
+
],
|
| 101 |
+
"spatial_prefix": [
|
| 102 |
+
[
|
| 103 |
+
"",
|
| 104 |
+
"face_away"
|
| 105 |
+
]
|
| 106 |
+
],
|
| 107 |
+
"frame_duration": [
|
| 108 |
+
3379,
|
| 109 |
+
4678
|
| 110 |
+
],
|
| 111 |
+
"mp_ef": [],
|
| 112 |
+
"skill_type": [
|
| 113 |
+
"uncoordinated"
|
| 114 |
+
]
|
| 115 |
+
},
|
| 116 |
+
{
|
| 117 |
+
"skill_idx": 4,
|
| 118 |
+
"skill_id": [
|
| 119 |
+
93
|
| 120 |
+
],
|
| 121 |
+
"skill_description": [
|
| 122 |
+
"turn to"
|
| 123 |
+
],
|
| 124 |
+
"object_id": [
|
| 125 |
+
[
|
| 126 |
+
"boxing_gloves_188",
|
| 127 |
+
"robot"
|
| 128 |
+
]
|
| 129 |
+
],
|
| 130 |
+
"manipulating_object_id": [
|
| 131 |
+
"boxing_gloves_188"
|
| 132 |
+
],
|
| 133 |
+
"spatial_prefix": [
|
| 134 |
+
[
|
| 135 |
+
"",
|
| 136 |
+
"face_away"
|
| 137 |
+
]
|
| 138 |
+
],
|
| 139 |
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"frame_duration": [
|
| 140 |
+
4678,
|
| 141 |
+
5931
|
| 142 |
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],
|
| 143 |
+
"mp_ef": [],
|
| 144 |
+
"skill_type": [
|
| 145 |
+
"uncoordinated"
|
| 146 |
+
]
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"skill_idx": 5,
|
| 150 |
+
"skill_id": [
|
| 151 |
+
2
|
| 152 |
+
],
|
| 153 |
+
"skill_description": [
|
| 154 |
+
"pick up from"
|
| 155 |
+
],
|
| 156 |
+
"object_id": [
|
| 157 |
+
[
|
| 158 |
+
"boxing_gloves_188",
|
| 159 |
+
"countertop_sjxber_0"
|
| 160 |
+
]
|
| 161 |
+
],
|
| 162 |
+
"manipulating_object_id": [
|
| 163 |
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"boxing_gloves_188"
|
| 164 |
+
],
|
| 165 |
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"spatial_prefix": [],
|
| 166 |
+
"frame_duration": [
|
| 167 |
+
5931,
|
| 168 |
+
6513
|
| 169 |
+
],
|
| 170 |
+
"mp_ef": [],
|
| 171 |
+
"skill_type": [
|
| 172 |
+
"uncoordinated"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
{
|
| 176 |
+
"skill_idx": 6,
|
| 177 |
+
"skill_id": [
|
| 178 |
+
2
|
| 179 |
+
],
|
| 180 |
+
"skill_description": [
|
| 181 |
+
"pick up from"
|
| 182 |
+
],
|
| 183 |
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"object_id": [
|
| 184 |
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[
|
| 185 |
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"boxing_gloves_189",
|
| 186 |
+
"countertop_sjxber_0"
|
| 187 |
+
]
|
| 188 |
+
],
|
| 189 |
+
"manipulating_object_id": [
|
| 190 |
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"boxing_gloves_189"
|
| 191 |
+
],
|
| 192 |
+
"spatial_prefix": [],
|
| 193 |
+
"frame_duration": [
|
| 194 |
+
6513,
|
| 195 |
+
7169
|
| 196 |
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],
|
| 197 |
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"mp_ef": [],
|
| 198 |
+
"skill_type": [
|
| 199 |
+
"uncoordinated"
|
| 200 |
+
]
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"skill_idx": 7,
|
| 204 |
+
"skill_id": [
|
| 205 |
+
1
|
| 206 |
+
],
|
| 207 |
+
"skill_description": [
|
| 208 |
+
"move to"
|
| 209 |
+
],
|
| 210 |
+
"object_id": [
|
| 211 |
+
[
|
| 212 |
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"washer_ynwamu_0"
|
| 213 |
+
]
|
| 214 |
+
],
|
| 215 |
+
"manipulating_object_id": [],
|
| 216 |
+
"spatial_prefix": [],
|
| 217 |
+
"frame_duration": [
|
| 218 |
+
7169,
|
| 219 |
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8014
|
| 220 |
+
],
|
| 221 |
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"mp_ef": [],
|
| 222 |
+
"skill_type": [
|
| 223 |
+
"navigation"
|
| 224 |
+
]
|
| 225 |
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},
|
| 226 |
+
{
|
| 227 |
+
"skill_idx": 8,
|
| 228 |
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"skill_id": [
|
| 229 |
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4
|
| 230 |
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],
|
| 231 |
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"skill_description": [
|
| 232 |
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"place in"
|
| 233 |
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],
|
| 234 |
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"object_id": [
|
| 235 |
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[
|
| 236 |
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| 237 |
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| 238 |
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| 239 |
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| 240 |
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| 241 |
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| 244 |
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| 245 |
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| 249 |
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|
| 250 |
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| 255 |
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|
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|
| 456 |
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|
| 457 |
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}
|
annotations/task-0031/episode_00310380.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12504,
|
| 6 |
+
"valid_duration": [
|
| 7 |
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0,
|
| 8 |
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12504
|
| 9 |
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]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
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|
| 457 |
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}
|
annotations/task-0031/episode_00310390.json
ADDED
|
@@ -0,0 +1,457 @@
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|
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|
| 455 |
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|
| 456 |
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|
| 457 |
+
}
|
annotations/task-0031/episode_00310400.json
ADDED
|
@@ -0,0 +1,457 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12065,
|
| 6 |
+
"valid_duration": [
|
| 7 |
+
0,
|
| 8 |
+
12065
|
| 9 |
+
]
|
| 10 |
+
},
|
| 11 |
+
"skill_annotation": [
|
| 12 |
+
{
|
| 13 |
+
"skill_idx": 0,
|
| 14 |
+
"skill_id": [
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
+
[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"manipulating_object_id": [],
|
| 26 |
+
"spatial_prefix": [],
|
| 27 |
+
"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
439
|
| 30 |
+
],
|
| 31 |
+
"mp_ef": [],
|
| 32 |
+
"skill_type": [
|
| 33 |
+
"navigation"
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
+
"skill_id": [
|
| 39 |
+
10
|
| 40 |
+
],
|
| 41 |
+
"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
+
"object_id": [
|
| 45 |
+
[
|
| 46 |
+
"washer_ynwamu_0"
|
| 47 |
+
]
|
| 48 |
+
],
|
| 49 |
+
"manipulating_object_id": [],
|
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}
|
annotations/task-0031/episode_00310460.json
ADDED
|
@@ -0,0 +1,391 @@
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},
|
| 342 |
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{
|
| 343 |
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|
| 344 |
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|
| 345 |
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12
|
| 346 |
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],
|
| 347 |
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"primitive_description": [
|
| 348 |
+
"close door"
|
| 349 |
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],
|
| 350 |
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"object_id": [
|
| 351 |
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[
|
| 352 |
+
"washer_ynwamu_0"
|
| 353 |
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]
|
| 354 |
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],
|
| 355 |
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"manipulating_object_id": [],
|
| 356 |
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|
| 357 |
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"frame_duration": [
|
| 358 |
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9391,
|
| 359 |
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10983
|
| 360 |
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],
|
| 361 |
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"skill_idxes": [
|
| 362 |
+
8
|
| 363 |
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]
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
+
"primitive_idx": 3,
|
| 367 |
+
"primitive_id": [
|
| 368 |
+
69
|
| 369 |
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],
|
| 370 |
+
"primitive_description": [
|
| 371 |
+
"turn on switch"
|
| 372 |
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],
|
| 373 |
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"object_id": [
|
| 374 |
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[
|
| 375 |
+
"washer_ynwamu_0"
|
| 376 |
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|
| 377 |
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],
|
| 378 |
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"manipulating_object_id": [
|
| 379 |
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"washer_ynwamu_0"
|
| 380 |
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],
|
| 381 |
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"spatial_prefix": [],
|
| 382 |
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"frame_duration": [
|
| 383 |
+
10983,
|
| 384 |
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|
| 385 |
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],
|
| 386 |
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"skill_idxes": [
|
| 387 |
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9
|
| 388 |
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]
|
| 389 |
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}
|
| 390 |
+
]
|
| 391 |
+
}
|
annotations/task-0031/episode_00310470.json
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 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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7529
|
| 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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1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
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|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 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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589
|
| 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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10
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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{
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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{
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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|
| 121 |
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|
| 122 |
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| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
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| 129 |
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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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| 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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4
|
| 166 |
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|
| 167 |
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| 168 |
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|
| 169 |
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|
| 170 |
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| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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| 207 |
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| 208 |
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5277,
|
| 209 |
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6390
|
| 210 |
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|
| 211 |
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|
| 212 |
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| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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{
|
| 217 |
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|
| 218 |
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| 219 |
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|
| 390 |
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|
| 391 |
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}
|
annotations/task-0031/episode_00310480.json
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 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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| 11 |
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"skill_annotation": [
|
| 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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"skill_description": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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"object_id": [
|
| 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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751
|
| 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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| 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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"pick up from"
|
| 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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|
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|
| 391 |
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}
|
annotations/task-0031/episode_00310490.json
ADDED
|
@@ -0,0 +1,391 @@
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|
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|
| 390 |
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|
| 391 |
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}
|
annotations/task-0031/episode_00310510.json
ADDED
|
@@ -0,0 +1,391 @@
|
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|
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|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
| 332 |
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|
| 333 |
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|
| 334 |
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2,
|
| 335 |
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3,
|
| 336 |
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|
| 337 |
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|
| 338 |
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6,
|
| 339 |
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7
|
| 340 |
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|
| 341 |
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|
| 342 |
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{
|
| 343 |
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|
| 344 |
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|
| 345 |
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12
|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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[
|
| 352 |
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"washer_ynwamu_0"
|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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|
| 357 |
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|
| 358 |
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5931,
|
| 359 |
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|
| 360 |
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|
| 361 |
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|
| 362 |
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8
|
| 363 |
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|
| 364 |
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|
| 365 |
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{
|
| 366 |
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"primitive_idx": 3,
|
| 367 |
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"primitive_id": [
|
| 368 |
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69
|
| 369 |
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],
|
| 370 |
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"primitive_description": [
|
| 371 |
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"turn on switch"
|
| 372 |
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],
|
| 373 |
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"object_id": [
|
| 374 |
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[
|
| 375 |
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"washer_ynwamu_0"
|
| 376 |
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|
| 377 |
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|
| 378 |
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"manipulating_object_id": [
|
| 379 |
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|
| 380 |
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|
| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
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]
|
| 389 |
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}
|
| 390 |
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]
|
| 391 |
+
}
|
annotations/task-0031/episode_00310530.json
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
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"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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7494
|
| 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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1
|
| 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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354
|
| 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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10
|
| 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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|
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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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| 129 |
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| 130 |
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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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|
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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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4
|
| 166 |
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],
|
| 167 |
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| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
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|
| 205 |
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|
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|
| 209 |
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| 211 |
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| 212 |
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| 213 |
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|
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|
| 372 |
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| 374 |
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|
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|
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|
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|
| 388 |
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|
| 389 |
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|
| 390 |
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|
| 391 |
+
}
|
annotations/task-0031/episode_00310560.json
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 7776,
|
| 6 |
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|
| 7 |
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0,
|
| 8 |
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7776
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 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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"manipulating_object_id": [],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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152
|
| 30 |
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],
|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 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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10
|
| 40 |
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],
|
| 41 |
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"skill_description": [
|
| 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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1986
|
| 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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"skill_description": [
|
| 66 |
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"move to"
|
| 67 |
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],
|
| 68 |
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"object_id": [
|
| 69 |
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[
|
| 70 |
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"boxing_gloves_189"
|
| 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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"frame_duration": [
|
| 76 |
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1986,
|
| 77 |
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2492
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| 78 |
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|
| 79 |
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"mp_ef": [],
|
| 80 |
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"skill_type": [
|
| 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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2
|
| 88 |
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],
|
| 89 |
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"skill_description": [
|
| 90 |
+
"pick up from"
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| 91 |
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|
| 391 |
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}
|
annotations/task-0031/episode_00310580.json
ADDED
|
@@ -0,0 +1,391 @@
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|
| 369 |
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|
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|
| 372 |
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| 373 |
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|
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|
| 378 |
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|
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|
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|
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|
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|
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|
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|
| 388 |
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|
| 389 |
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|
| 390 |
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|
| 391 |
+
}
|
annotations/task-0031/episode_00310600.json
ADDED
|
@@ -0,0 +1,391 @@
|
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|
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|
|
|
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|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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"boxing_gloves_188",
|
| 325 |
+
"boxing_gloves_189"
|
| 326 |
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]
|
| 327 |
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],
|
| 328 |
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"spatial_prefix": [],
|
| 329 |
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"frame_duration": [
|
| 330 |
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1766,
|
| 331 |
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6186
|
| 332 |
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|
| 333 |
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"skill_idxes": [
|
| 334 |
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2,
|
| 335 |
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|
| 336 |
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|
| 337 |
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|
| 338 |
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6,
|
| 339 |
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7
|
| 340 |
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]
|
| 341 |
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|
| 342 |
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{
|
| 343 |
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"primitive_idx": 2,
|
| 344 |
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"primitive_id": [
|
| 345 |
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12
|
| 346 |
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],
|
| 347 |
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"primitive_description": [
|
| 348 |
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"close door"
|
| 349 |
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],
|
| 350 |
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"object_id": [
|
| 351 |
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[
|
| 352 |
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"washer_ynwamu_0"
|
| 353 |
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]
|
| 354 |
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],
|
| 355 |
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"manipulating_object_id": [],
|
| 356 |
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|
| 357 |
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"frame_duration": [
|
| 358 |
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6186,
|
| 359 |
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7005
|
| 360 |
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],
|
| 361 |
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"skill_idxes": [
|
| 362 |
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8
|
| 363 |
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]
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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"primitive_idx": 3,
|
| 367 |
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"primitive_id": [
|
| 368 |
+
69
|
| 369 |
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],
|
| 370 |
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"primitive_description": [
|
| 371 |
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"turn on switch"
|
| 372 |
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],
|
| 373 |
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"object_id": [
|
| 374 |
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[
|
| 375 |
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"washer_ynwamu_0"
|
| 376 |
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|
| 377 |
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],
|
| 378 |
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"manipulating_object_id": [
|
| 379 |
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"washer_ynwamu_0"
|
| 380 |
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],
|
| 381 |
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"spatial_prefix": [],
|
| 382 |
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"frame_duration": [
|
| 383 |
+
7005,
|
| 384 |
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7383
|
| 385 |
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],
|
| 386 |
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"skill_idxes": [
|
| 387 |
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9
|
| 388 |
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]
|
| 389 |
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}
|
| 390 |
+
]
|
| 391 |
+
}
|
annotations/task-0031/episode_00310620.json
ADDED
|
@@ -0,0 +1,416 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11820,
|
| 6 |
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"valid_duration": [
|
| 7 |
+
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|
| 8 |
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11820
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
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],
|
| 20 |
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"object_id": [
|
| 21 |
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[
|
| 22 |
+
"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
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"manipulating_object_id": [],
|
| 26 |
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"spatial_prefix": [],
|
| 27 |
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"frame_duration": [
|
| 28 |
+
0,
|
| 29 |
+
736
|
| 30 |
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],
|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 33 |
+
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|
| 34 |
+
]
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
+
"skill_idx": 1,
|
| 38 |
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"skill_id": [
|
| 39 |
+
10
|
| 40 |
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],
|
| 41 |
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"skill_description": [
|
| 42 |
+
"open door"
|
| 43 |
+
],
|
| 44 |
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"object_id": [
|
| 45 |
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[
|
| 46 |
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"washer_ynwamu_0"
|
| 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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736,
|
| 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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"coordinated"
|
| 58 |
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]
|
| 59 |
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},
|
| 60 |
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{
|
| 61 |
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"skill_idx": 2,
|
| 62 |
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|
| 63 |
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1
|
| 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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"object_id": [
|
| 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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2488,
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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{
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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[
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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{
|
| 112 |
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|
| 113 |
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|
| 114 |
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1
|
| 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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2
|
| 139 |
+
],
|
| 140 |
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"skill_description": [
|
| 141 |
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"pick up from"
|
| 142 |
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],
|
| 143 |
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"object_id": [
|
| 144 |
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[
|
| 145 |
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"boxing_gloves_188",
|
| 146 |
+
"countertop_sjxber_0"
|
| 147 |
+
]
|
| 148 |
+
],
|
| 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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4950,
|
| 155 |
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5709
|
| 156 |
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|
| 157 |
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"mp_ef": [],
|
| 158 |
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"skill_type": [
|
| 159 |
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|
| 160 |
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]
|
| 161 |
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},
|
| 162 |
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{
|
| 163 |
+
"skill_idx": 6,
|
| 164 |
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|
| 165 |
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1
|
| 166 |
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],
|
| 167 |
+
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|
| 168 |
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"move to"
|
| 169 |
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|
| 170 |
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|
| 171 |
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[
|
| 172 |
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"washer_ynwamu_0"
|
| 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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5709,
|
| 179 |
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7404
|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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"navigation"
|
| 184 |
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]
|
| 185 |
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},
|
| 186 |
+
{
|
| 187 |
+
"skill_idx": 7,
|
| 188 |
+
"skill_id": [
|
| 189 |
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4
|
| 190 |
+
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|
| 191 |
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| 192 |
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| 193 |
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| 195 |
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| 196 |
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| 198 |
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| 200 |
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| 201 |
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| 209 |
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| 210 |
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|
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|
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|
| 415 |
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|
| 416 |
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}
|
annotations/task-0031/episode_00310640.json
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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"task_duration": 10816,
|
| 6 |
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"valid_duration": [
|
| 7 |
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|
| 8 |
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10816
|
| 9 |
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]
|
| 10 |
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},
|
| 11 |
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"skill_annotation": [
|
| 12 |
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{
|
| 13 |
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|
| 14 |
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"skill_id": [
|
| 15 |
+
1
|
| 16 |
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],
|
| 17 |
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"skill_description": [
|
| 18 |
+
"move to"
|
| 19 |
+
],
|
| 20 |
+
"object_id": [
|
| 21 |
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[
|
| 22 |
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"washer_ynwamu_0"
|
| 23 |
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]
|
| 24 |
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],
|
| 25 |
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"manipulating_object_id": [],
|
| 26 |
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| 27 |
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"frame_duration": [
|
| 28 |
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0,
|
| 29 |
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399
|
| 30 |
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],
|
| 31 |
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"mp_ef": [],
|
| 32 |
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"skill_type": [
|
| 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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"skill_id": [
|
| 39 |
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10
|
| 40 |
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],
|
| 41 |
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"skill_description": [
|
| 42 |
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|
| 43 |
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|
| 44 |
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| 391 |
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}
|
annotations/task-0031/episode_00310650.json
ADDED
|
@@ -0,0 +1,366 @@
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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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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 340 |
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|
| 341 |
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|
| 342 |
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|
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|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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|
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|
| 355 |
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|
| 356 |
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|
| 357 |
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|
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|
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|
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|
| 361 |
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|
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|
| 363 |
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|
| 364 |
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|
| 365 |
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|
| 366 |
+
}
|
annotations/task-0031/episode_00310680.json
ADDED
|
@@ -0,0 +1,391 @@
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 316 |
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|
| 317 |
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| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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| 323 |
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[
|
| 324 |
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|
| 325 |
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|
| 326 |
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|
| 327 |
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| 328 |
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| 329 |
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| 330 |
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| 333 |
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| 334 |
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| 335 |
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| 336 |
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|
| 337 |
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| 338 |
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|
| 339 |
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|
| 340 |
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|
| 341 |
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| 342 |
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|
| 343 |
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| 344 |
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|
| 346 |
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| 347 |
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|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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[
|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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|
| 357 |
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| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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|
| 362 |
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8
|
| 363 |
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|
| 364 |
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|
| 365 |
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{
|
| 366 |
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|
| 367 |
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|
| 368 |
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69
|
| 369 |
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],
|
| 370 |
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"primitive_description": [
|
| 371 |
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|
| 372 |
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],
|
| 373 |
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"object_id": [
|
| 374 |
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[
|
| 375 |
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|
| 376 |
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|
| 377 |
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|
| 378 |
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|
| 379 |
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|
| 380 |
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|
| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
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|
| 389 |
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|
| 390 |
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]
|
| 391 |
+
}
|
annotations/task-0031/episode_00310700.json
ADDED
|
@@ -0,0 +1,391 @@
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "clean boxing gloves",
|
| 3 |
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"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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10569
|
| 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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"skill_description": [
|
| 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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652
|
| 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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|
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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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| 129 |
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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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|
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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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5420,
|
| 155 |
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6683
|
| 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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4
|
| 166 |
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],
|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
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