Hugging Face's logo

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

Tasks:
Robotics
Modalities:
Video
ArXiv:
Tags:
LeRobot
v
2
.
1
DOI:
License:
Dataset card Data Studio Files
xet
Community
2
wensi-ai commited on
Commit
bb29903
·
verified ·
1 Parent(s): fe1bd9f

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. annotations/task-0015/episode_00150030.json +212 -0
  2. annotations/task-0015/episode_00150220.json +212 -0
  3. annotations/task-0015/episode_00150340.json +212 -0
  4. annotations/task-0015/episode_00151250.json +212 -0
  5. annotations/task-0015/episode_00151420.json +212 -0
  6. annotations/task-0015/episode_00151630.json +212 -0
  7. annotations/task-0015/episode_00151720.json +212 -0
  8. annotations/task-0015/episode_00151750.json +212 -0
  9. annotations/task-0015/episode_00151920.json +212 -0
  10. annotations/task-0015/episode_00151960.json +212 -0
  11. annotations/task-0015/episode_00152010.json +212 -0
  12. annotations/task-0015/episode_00152090.json +212 -0
  13. annotations/task-0015/episode_00152200.json +212 -0
  14. annotations/task-0015/episode_00152470.json +212 -0
  15. annotations/task-0015/episode_00152510.json +212 -0
  16. annotations/task-0015/episode_00152660.json +212 -0
  17. annotations/task-0034/episode_00340020.json +82 -0
  18. annotations/task-0034/episode_00340120.json +94 -0
  19. annotations/task-0034/episode_00340140.json +82 -0
  20. annotations/task-0034/episode_00340150.json +82 -0
  21. annotations/task-0034/episode_00340170.json +94 -0
  22. annotations/task-0034/episode_00340180.json +94 -0
  23. annotations/task-0034/episode_00340190.json +82 -0
  24. annotations/task-0034/episode_00340200.json +94 -0
  25. annotations/task-0034/episode_00340210.json +94 -0
  26. annotations/task-0034/episode_00340230.json +94 -0
  27. annotations/task-0034/episode_00340340.json +82 -0
  28. annotations/task-0034/episode_00340350.json +82 -0
  29. annotations/task-0034/episode_00340430.json +82 -0
  30. annotations/task-0034/episode_00340450.json +94 -0
  31. annotations/task-0034/episode_00340500.json +94 -0
  32. annotations/task-0034/episode_00340560.json +82 -0
  33. annotations/task-0034/episode_00340570.json +82 -0
  34. annotations/task-0034/episode_00340590.json +94 -0
  35. annotations/task-0034/episode_00340610.json +94 -0
  36. annotations/task-0034/episode_00340620.json +82 -0
  37. annotations/task-0034/episode_00340630.json +94 -0
  38. annotations/task-0034/episode_00340640.json +82 -0
  39. annotations/task-0034/episode_00340760.json +94 -0
  40. annotations/task-0034/episode_00340840.json +94 -0
  41. annotations/task-0034/episode_00340850.json +82 -0
  42. annotations/task-0034/episode_00340880.json +82 -0
  43. annotations/task-0034/episode_00340890.json +94 -0
  44. annotations/task-0034/episode_00340900.json +82 -0
  45. annotations/task-0034/episode_00340910.json +82 -0
  46. annotations/task-0034/episode_00340920.json +94 -0
  47. annotations/task-0034/episode_00341090.json +94 -0
  48. annotations/task-0034/episode_00341140.json +94 -0
  49. annotations/task-0034/episode_00341150.json +94 -0
  50. annotations/task-0034/episode_00341160.json +94 -0
annotations/task-0015/episode_00150030.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 16986,
6
+ "valid_duration": [0, 16986]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_202"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 898],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_202"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [899, 1648],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1648, 3404],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [3407, 6493],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [6493, 7417],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_202"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [7417, 8130],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [8130, 11246],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [11247, 12003],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_201"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [12003, 12964],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_201"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [12964, 13677],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [13677, 16081],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_203"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [16081, 16446],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_201"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [16446, 16986],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_202"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [0, 1648],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [1648, 6493],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_202"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [6493, 8130],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [8130, 16986],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00150220.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13394,
6
+ "valid_duration": [0, 13394]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_202"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 1002],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_202"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1002, 1775],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2147, 2496],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2496, 4380],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4380, 5236],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_202"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5236, 5755],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [5755, 8106],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [8106, 8732],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_201"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [8732, 9256],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_201"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [9256, 9802],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [9839, 12675],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_201"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [12735, 13157],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_203"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [13187, 13394],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_202"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [0, 1775],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [2147, 4380],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_202"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4380, 5755],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_201", "plywood_203"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [5755, 13394],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00150340.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13703,
6
+ "valid_duration": [160, 13863]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_203"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [160, 362],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_203"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [363, 1071],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1071, 3231],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [3231, 5206],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [5206, 5982],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_203"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5982, 6741],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_201"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6741, 7914],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_201"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [7914, 8884],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [8885, 9804],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [9804, 10994],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [10994, 12403],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_201"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [12403, 13255],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_202"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [13256, 13863],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_203"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [160, 1071],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [1071, 5206],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_203"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [5206, 6741],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6741, 13863],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00151250.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13982,
6
+ "valid_duration": [0, 13982]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_202"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 1776],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_202"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1776, 2556],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2556, 2822],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2822, 4292],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4292, 5135],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_202"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5165, 6018],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6018, 7794],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [7794, 8702],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_201"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [8702, 9782],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_201"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [9782, 10682],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [10682, 12845],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_203"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [12845, 13322],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_201"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [13322, 13982],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_202"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [0, 2556],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [2556, 4292],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_202"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4292, 6018],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6018, 13982],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00151420.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 14399,
6
+ "valid_duration": [159, 14558]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_202"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [159, 1077],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_202"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1078, 2057],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2057, 3117],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [3117, 4632],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4632, 5398],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_202"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5399, 6072],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_201"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6072, 8282],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_201"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [8282, 8940],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_203"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [8940, 9873],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_203"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [9873, 10681],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [10681, 13314],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_201"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [13314, 14013],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_203"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [14013, 14558],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_202"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [159, 2057],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [2057, 4632],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_202"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4632, 6072],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_201", "plywood_203"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_201", "plywood_203"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6072, 14558],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00151630.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 14985,
6
+ "valid_duration": [120, 15105]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_201"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [120, 1630],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_201"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1630, 2412],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2412, 4014],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [4014, 5327],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [5327, 6089],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_201"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [6089, 6759],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6759, 9408],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [9408, 10178],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [10178, 10754],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [10754, 11520],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [11520, 14013],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_202"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [14013, 14412],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_203"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [14412, 15105],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_201"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [120, 2412],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [2412, 5327],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_201"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [5327, 6759],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6759, 15105],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00151720.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12974,
6
+ "valid_duration": [60, 13034]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_201"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [60, 948],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_201"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1038, 1741],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1741, 3064],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [3064, 4763],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4763, 5624],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_201"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5624, 6227],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6227, 8552],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [8552, 9214],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [9214, 9437],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [9437, 10050],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [10050, 11965],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_203"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [11965, 12425],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_202"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [12425, 13034],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_201"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [60, 1741],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [1741, 4763],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_201"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4763, 6227],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6227, 13034],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00151750.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 15833,
6
+ "valid_duration": [120, 15953]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_201"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [120, 670],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_201"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [670, 1620],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1620, 3548],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [3563, 5148],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [5148, 6059],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_201"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [6059, 6745],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6745, 9849],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [9849, 10710],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [10710, 10954],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [10954, 11623],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [11623, 14431],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_202"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [14431, 15185],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_203"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [15185, 15953],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_201"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [120, 1620],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [1620, 5148],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_201"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [5148, 6745],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6745, 15953],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00151920.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 14190,
6
+ "valid_duration": [300, 14490]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_202"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [300, 1661],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_202"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1661, 2649],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2649, 2949],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2949, 4071],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4071, 4980],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_202"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [4981, 5584],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_201"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [5584, 8235],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_201"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [8235, 8941],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_203"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [8941, 9895],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_203"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [9895, 10499],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [10499, 13466],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_203"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [13467, 13859],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_201"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [13859, 14490],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_202"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [300, 2649],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10, 2],
181
+ "primitive_description": ["open door", "pick up from"],
182
+ "object_id": [["door_vudhlc_1"], ["plywood_201", "floors_qadhjb_0"]],
183
+ "manipulating_object_id": [[], "plywood_201"],
184
+ "memory_prefix": ["", "the other"],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [2649, 8941],
187
+ "skill_idxes": [2, 3, 7]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_202"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4071, 5584],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [["plywood_203", "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": ["plywood_203", ["plywood_203", "plywood_201"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [5584, 14490],
209
+ "skill_idxes": [6, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00151960.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13860,
6
+ "valid_duration": [120, 13980]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_201"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [120, 1483],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_201"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1483, 2157],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2157, 3321],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [3321, 4681],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4681, 5926],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_201"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5926, 6421],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6421, 8690],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [8690, 9383],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [9383, 10329],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [10329, 11169],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [11169, 12801],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_202"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [12802, 13291],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_203"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [13291, 13980],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_201"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [120, 2157],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [2157, 4681],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_201"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4681, 6421],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6421, 13980],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00152010.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13224,
6
+ "valid_duration": [256, 13480]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_201"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [256, 1638],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_201"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1638, 2557],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2557, 2733],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2733, 4095],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4095, 5087],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_201"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5088, 5730],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [5730, 8165],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [8165, 8964],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [8964, 10299],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [10299, 11002],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [11003, 12483],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_203"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [12483, 12897],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_202"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [12897, 13480],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_201"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [256, 2557],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [2557, 4095],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_201"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4095, 5730],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_203", "plywood_202"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [5730, 13480],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00152090.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9243,
6
+ "valid_duration": [0, 9243]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_203"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 328],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_203"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [328, 903],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [903, 1096],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1096, 1876],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1876, 2820],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_203"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [2820, 3089],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_201"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [3089, 4045],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_201"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [4045, 4292],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [4292, 5817],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [5817, 6139],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [6139, 8584],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
146
+ "manipulating_object_id": ["plywood_201"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [8584, 8894],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_202"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [8894, 9243],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_203"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [0, 903],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [903, 1876],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_203"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [1876, 3089],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], ["floors_qadhjb_0", "floors_xorxro_0"]]],
205
+ "manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_201", "plywood_202"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [3089, 9243],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00152200.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 12975,
6
+ "valid_duration": [30, 13005]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_202"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [30, 888],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_202"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [888, 1512],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1512, 2489],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2489, 4332],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4332, 5260],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_202"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5260, 5771],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_201"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [5771, 7725],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_201"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [7725, 8020],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_203"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [8020, 8618],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_203"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [8618, 9213],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [9213, 11823],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_203"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [11823, 12215],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_201"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [12215, 13005],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_202"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [30, 1512],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [1512, 4332],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_202"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4332, 5771],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_201", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_201", "plywood_203"], ["plywood_203", "plywood_201"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [5771, 13005],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00152470.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 9740,
6
+ "valid_duration": [0, 9740]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_201"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 1578],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_201"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [1578, 2040],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2040, 2350],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2350, 3219],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3219, 4095],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_201"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [4095, 4481],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_203"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [4481, 6254],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_203"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [6254, 6513],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [6513, 6791],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [6791, 7042],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [7042, 9141],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_202"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [9141, 9411],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_203"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [9411, 9740],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_201"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [0, 2040],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [2040, 3219],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_201"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [3219, 4481],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [4481, 9740],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00152510.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 14946,
6
+ "valid_duration": [0, 14946]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_203"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 379],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_203"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [379, 1134],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1134, 1740],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": ["door_vudhlc_1"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1740, 4437],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [4437, 5616],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_203"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [5616, 6314],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_201"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6314, 8797],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_201"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [8797, 9587],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_202"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [9588, 10241],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_202"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [10241, 10949],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [10949, 13599],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_202"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [13599, 14100],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_201"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [14100, 14946],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_203"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [0, 1134],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": ["door_vudhlc_1"],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [1134, 4437],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_203"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [4437, 6314],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_201", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_201"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_201", "plywood_202"], ["plywood_202", "plywood_201"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6314, 14946],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0015/episode_00152660.json ADDED
@@ -0,0 +1,212 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "bringing in wood",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 13857,
6
+ "valid_duration": [0, 13857]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["plywood_201"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 322],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
26
+ "manipulating_object_id": ["plywood_201"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [323, 915],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["door_vudhlc_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [915, 2789],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [10],
48
+ "skill_description": ["open door"],
49
+ "object_id": [["door_vudhlc_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2790, 5119],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [1],
60
+ "skill_description": ["move to"],
61
+ "object_id": [["floors_xorxro_0"]],
62
+ "manipulating_object_id": [],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [5119, 6105],
66
+ "mp_ef": [],
67
+ "skill_type": ["navigation"]
68
+ },
69
+ {
70
+ "skill_idx": 5,
71
+ "skill_id": [3],
72
+ "skill_description": ["place on"],
73
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
74
+ "manipulating_object_id": ["plywood_201"],
75
+ "memory_prefix": [],
76
+ "spatial_prefix": [],
77
+ "frame_duration": [6105, 6662],
78
+ "mp_ef": [],
79
+ "skill_type": ["uncoordinated"]
80
+ },
81
+ {
82
+ "skill_idx": 6,
83
+ "skill_id": [1],
84
+ "skill_description": ["move to"],
85
+ "object_id": [["plywood_202"]],
86
+ "manipulating_object_id": [],
87
+ "memory_prefix": ["the other"],
88
+ "spatial_prefix": [],
89
+ "frame_duration": [6687, 9090],
90
+ "mp_ef": [],
91
+ "skill_type": ["navigation"]
92
+ },
93
+ {
94
+ "skill_idx": 7,
95
+ "skill_id": [2],
96
+ "skill_description": ["pick up from"],
97
+ "object_id": [["plywood_202", "floors_qadhjb_0"]],
98
+ "manipulating_object_id": ["plywood_202"],
99
+ "memory_prefix": ["the other"],
100
+ "spatial_prefix": [],
101
+ "frame_duration": [9090, 9776],
102
+ "mp_ef": [],
103
+ "skill_type": ["uncoordinated"]
104
+ },
105
+ {
106
+ "skill_idx": 8,
107
+ "skill_id": [1],
108
+ "skill_description": ["move to"],
109
+ "object_id": [["plywood_203"]],
110
+ "manipulating_object_id": [],
111
+ "memory_prefix": ["the other"],
112
+ "spatial_prefix": [],
113
+ "frame_duration": [9777, 10409],
114
+ "mp_ef": [],
115
+ "skill_type": ["navigation"]
116
+ },
117
+ {
118
+ "skill_idx": 9,
119
+ "skill_id": [2],
120
+ "skill_description": ["pick up from"],
121
+ "object_id": [["plywood_203", "floors_qadhjb_0"]],
122
+ "manipulating_object_id": ["plywood_203"],
123
+ "memory_prefix": ["the other"],
124
+ "spatial_prefix": [],
125
+ "frame_duration": [10409, 10876],
126
+ "mp_ef": [],
127
+ "skill_type": ["uncoordinated"]
128
+ },
129
+ {
130
+ "skill_idx": 10,
131
+ "skill_id": [1],
132
+ "skill_description": ["move to"],
133
+ "object_id": [["floors_xorxro_0"]],
134
+ "manipulating_object_id": [],
135
+ "memory_prefix": ["back"],
136
+ "spatial_prefix": [],
137
+ "frame_duration": [10876, 13155],
138
+ "mp_ef": [],
139
+ "skill_type": ["navigation"]
140
+ },
141
+ {
142
+ "skill_idx": 11,
143
+ "skill_id": [3],
144
+ "skill_description": ["place on"],
145
+ "object_id": [["plywood_202", "floors_xorxro_0"]],
146
+ "manipulating_object_id": ["plywood_202"],
147
+ "memory_prefix": [],
148
+ "spatial_prefix": [],
149
+ "frame_duration": [13155, 13520],
150
+ "mp_ef": [],
151
+ "skill_type": ["uncoordinated"]
152
+ },
153
+ {
154
+ "skill_idx": 12,
155
+ "skill_id": [3],
156
+ "skill_description": ["place on"],
157
+ "object_id": [["plywood_203", "floors_xorxro_0"]],
158
+ "manipulating_object_id": ["plywood_203"],
159
+ "memory_prefix": [],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [13521, 13857],
162
+ "mp_ef": [],
163
+ "skill_type": ["uncoordinated"]
164
+ }
165
+ ],
166
+ "primitive_annotation": [
167
+ {
168
+ "primitive_idx": 0,
169
+ "primitive_id": [2],
170
+ "primitive_description": ["pick up from"],
171
+ "object_id": [["plywood_201", "floors_qadhjb_0"]],
172
+ "manipulating_object_id": ["plywood_201"],
173
+ "memory_prefix": [],
174
+ "spatial_prefix": [],
175
+ "frame_duration": [0, 915],
176
+ "skill_idxes": [0, 1]
177
+ },
178
+ {
179
+ "primitive_idx": 1,
180
+ "primitive_id": [10],
181
+ "primitive_description": ["open door"],
182
+ "object_id": [["door_vudhlc_1"]],
183
+ "manipulating_object_id": [],
184
+ "memory_prefix": [],
185
+ "spatial_prefix": [],
186
+ "frame_duration": [915, 5119],
187
+ "skill_idxes": [2, 3]
188
+ },
189
+ {
190
+ "primitive_idx": 2,
191
+ "primitive_id": [3],
192
+ "primitive_description": ["place on"],
193
+ "object_id": [["plywood_201", "floors_xorxro_0"]],
194
+ "manipulating_object_id": ["plywood_201"],
195
+ "memory_prefix": [],
196
+ "spatial_prefix": [],
197
+ "frame_duration": [5119, 6662],
198
+ "skill_idxes": [4, 5]
199
+ },
200
+ {
201
+ "primitive_idx": 3,
202
+ "primitive_id": [2, 3],
203
+ "primitive_description": ["pick up from", "place on"],
204
+ "object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
205
+ "manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_202", "plywood_203"]],
206
+ "memory_prefix": ["the other", ""],
207
+ "spatial_prefix": [],
208
+ "frame_duration": [6687, 13857],
209
+ "skill_idxes": [6, 7, 8, 9, 10, 11, 12]
210
+ }
211
+ ]
212
+ }
annotations/task-0034/episode_00340020.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 934,
6
+ "valid_duration": [0, 934]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 235],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [236, 354],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [355, 448],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [449, 934],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [0, 354],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [355, 934],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340120.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2500,
6
+ "valid_duration": [0, 2500]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 273],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [273, 745],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [745, 1157],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1352, 1600],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1601, 2500],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 745],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [745, 2500],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340140.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2058,
6
+ "valid_duration": [25, 2083]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [25, 478],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [478, 948],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1109, 1250],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1250, 2083],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [25, 948],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [1109, 2083],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340150.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1960,
6
+ "valid_duration": [31, 1991]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [31, 203],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [203, 901],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [901, 1080],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1080, 1991],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [31, 901],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [901, 1991],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340170.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3638,
6
+ "valid_duration": [52, 3690]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [52, 483],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [483, 1569],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1569, 2242],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2242, 2610],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2610, 3690],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [52, 1569],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1569, 3690],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340180.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2295,
6
+ "valid_duration": [60, 2355]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [60, 358],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [358, 759],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [760, 1057],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1057, 1561],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1561, 2355],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [60, 759],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [760, 2355],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340190.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2340,
6
+ "valid_duration": [60, 2400]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [60, 749],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [750, 1127],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1127, 1676],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1676, 2400],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [60, 1127],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [1127, 2400],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340200.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 4650,
6
+ "valid_duration": [0, 4650]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 755],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [90],
24
+ "skill_description": ["push to"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [["", "to_the_edge_of"]],
29
+ "frame_duration": [755, 2402],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [2],
36
+ "skill_description": ["pick up from"],
37
+ "object_id": [["poster_73", "bar_egwapq_0"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [2402, 3465],
42
+ "mp_ef": [],
43
+ "skill_type": ["uncoordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [3465, 3721],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [3722, 4650],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 3465],
80
+ "skill_idxes": [0, 1, 2]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [3465, 4650],
91
+ "skill_idxes": [3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340210.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2217,
6
+ "valid_duration": [0, 2217]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 435],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [436, 703],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [704, 1161],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1161, 1529],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1529, 2217],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 703],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [704, 2217],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340230.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2567,
6
+ "valid_duration": [0, 2567]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 285],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [285, 760],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [763, 1444],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1447, 1796],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1798, 2567],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 760],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [763, 2567],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340340.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1504,
6
+ "valid_duration": [0, 1504]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 216],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [221, 435],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [436, 848],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [848, 1504],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [0, 435],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [436, 1504],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340350.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1656,
6
+ "valid_duration": [39, 1695]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [39, 438],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [438, 951],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [951, 1035],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1036, 1695],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [39, 951],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [951, 1695],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340430.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1710,
6
+ "valid_duration": [60, 1770]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [60, 250],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [255, 893],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [899, 1016],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1016, 1770],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [60, 893],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [899, 1770],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340450.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2463,
6
+ "valid_duration": [31, 2494]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [31, 685],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [687, 1066],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1066, 1494],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1500, 2091],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2091, 2494],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [31, 1066],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1066, 2494],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340500.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3248,
6
+ "valid_duration": [52, 3300]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [52, 917],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [917, 1753],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1753, 2490],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2490, 2776],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2779, 3300],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [52, 1753],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1753, 3300],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340560.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1500,
6
+ "valid_duration": [30, 1530]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [30, 324],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [325, 542],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [543, 980],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [983, 1530],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [30, 542],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [543, 1530],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340570.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1722,
6
+ "valid_duration": [0, 1722]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 386],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [386, 992],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [997, 1139],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1140, 1722],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [0, 992],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [997, 1722],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340590.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1815,
6
+ "valid_duration": [0, 1815]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 219],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [219, 496],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [496, 945],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [954, 1222],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1226, 1815],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 496],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [496, 1815],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340610.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2583,
6
+ "valid_duration": [90, 2673]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [90, 433],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [435, 1002],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1005, 1567],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1568, 1785],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1785, 2673],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [90, 1002],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1005, 2673],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340620.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1566,
6
+ "valid_duration": [0, 1566]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 205],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [206, 579],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [580, 1085],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1086, 1566],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [0, 579],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [580, 1566],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340630.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3030,
6
+ "valid_duration": [0, 3030]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 330],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [332, 1505],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1682, 2027],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2030, 2529],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2531, 3030],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 1505],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1682, 3030],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340640.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1971,
6
+ "valid_duration": [0, 1971]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 541],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [541, 870],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [870, 1525],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1527, 1971],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [0, 870],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [870, 1971],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340760.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2263,
6
+ "valid_duration": [47, 2310]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [47, 663],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [663, 1043],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1043, 1323],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1512, 1861],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1861, 2310],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [47, 1043],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1043, 2310],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340840.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3021,
6
+ "valid_duration": [0, 3021]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 765],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [765, 1350],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1353, 2085],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2086, 2443],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2445, 3021],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 1350],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1353, 3021],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340850.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1830,
6
+ "valid_duration": [0, 1830]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 267],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [267, 885],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [885, 1203],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1204, 1830],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [0, 885],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [885, 1830],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340880.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1950,
6
+ "valid_duration": [0, 1950]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 688],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [688, 1288],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1289, 1410],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1410, 1950],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [0, 1288],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [1289, 1950],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340890.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2721,
6
+ "valid_duration": [0, 2721]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 495],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [495, 1032],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1032, 1427],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1428, 1997],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1999, 2721],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 1032],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1032, 2721],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00340900.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1770,
6
+ "valid_duration": [30, 1800]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [30, 235],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [236, 893],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [893, 1250],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1250, 1800],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [30, 893],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [893, 1800],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340910.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1680,
6
+ "valid_duration": [0, 1680]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 510],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [510, 789],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [1],
36
+ "skill_description": ["move to"],
37
+ "object_id": [["wall_nail_wlnail_1"]],
38
+ "manipulating_object_id": [],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [789, 1245],
42
+ "mp_ef": [],
43
+ "skill_type": ["navigation"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [61],
48
+ "skill_description": ["hang"],
49
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": ["poster_73"],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1248, 1680],
54
+ "mp_ef": [],
55
+ "skill_type": ["uncoordinated"]
56
+ }
57
+ ],
58
+ "primitive_annotation": [
59
+ {
60
+ "primitive_idx": 0,
61
+ "primitive_id": [2],
62
+ "primitive_description": ["pick up from"],
63
+ "object_id": [["poster_73", "bar_egwapq_0"]],
64
+ "manipulating_object_id": ["poster_73"],
65
+ "memory_prefix": [],
66
+ "spatial_prefix": [],
67
+ "frame_duration": [0, 789],
68
+ "skill_idxes": [0, 1]
69
+ },
70
+ {
71
+ "primitive_idx": 1,
72
+ "primitive_id": [61],
73
+ "primitive_description": ["hang"],
74
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
75
+ "manipulating_object_id": ["poster_73"],
76
+ "memory_prefix": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [789, 1680],
79
+ "skill_idxes": [2, 3]
80
+ }
81
+ ]
82
+ }
annotations/task-0034/episode_00340920.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3090,
6
+ "valid_duration": [0, 3090]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 750],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [750, 1524],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1524, 2121],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [2122, 2509],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [2509, 3090],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 1524],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1524, 3090],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00341090.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3210,
6
+ "valid_duration": [0, 3210]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 455],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [465, 971],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1019, 1402],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1402, 1823],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1823, 3210],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 971],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1019, 3210],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00341140.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2354,
6
+ "valid_duration": [0, 2354]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 627],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [627, 975],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [975, 1390],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1391, 1893],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1893, 2354],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 975],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [975, 2354],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00341150.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2750,
6
+ "valid_duration": [23, 2773]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [23, 654],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [654, 1018],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [1140, 1498],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1667, 1871],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1872, 2773],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [23, 1018],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [1140, 2773],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }
annotations/task-0034/episode_00341160.json ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2334,
6
+ "valid_duration": [0, 2334]
7
+ },
8
+ "skill_annotation": [
9
+ {
10
+ "skill_idx": 0,
11
+ "skill_id": [1],
12
+ "skill_description": ["move to"],
13
+ "object_id": [["poster_73"]],
14
+ "manipulating_object_id": [],
15
+ "memory_prefix": [],
16
+ "spatial_prefix": [],
17
+ "frame_duration": [0, 405],
18
+ "mp_ef": [],
19
+ "skill_type": ["navigation"]
20
+ },
21
+ {
22
+ "skill_idx": 1,
23
+ "skill_id": [2],
24
+ "skill_description": ["pick up from"],
25
+ "object_id": [["poster_73", "bar_egwapq_0"]],
26
+ "manipulating_object_id": ["poster_73"],
27
+ "memory_prefix": [],
28
+ "spatial_prefix": [],
29
+ "frame_duration": [406, 638],
30
+ "mp_ef": [],
31
+ "skill_type": ["uncoordinated"]
32
+ },
33
+ {
34
+ "skill_idx": 2,
35
+ "skill_id": [5],
36
+ "skill_description": ["hand over"],
37
+ "object_id": [["poster_73", "left", "right"]],
38
+ "manipulating_object_id": ["poster_73"],
39
+ "memory_prefix": [],
40
+ "spatial_prefix": [],
41
+ "frame_duration": [639, 1104],
42
+ "mp_ef": [],
43
+ "skill_type": ["coordinated"]
44
+ },
45
+ {
46
+ "skill_idx": 3,
47
+ "skill_id": [1],
48
+ "skill_description": ["move to"],
49
+ "object_id": [["wall_nail_wlnail_1"]],
50
+ "manipulating_object_id": [],
51
+ "memory_prefix": [],
52
+ "spatial_prefix": [],
53
+ "frame_duration": [1104, 1486],
54
+ "mp_ef": [],
55
+ "skill_type": ["navigation"]
56
+ },
57
+ {
58
+ "skill_idx": 4,
59
+ "skill_id": [61],
60
+ "skill_description": ["hang"],
61
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
62
+ "manipulating_object_id": ["poster_73"],
63
+ "memory_prefix": [],
64
+ "spatial_prefix": [],
65
+ "frame_duration": [1486, 2334],
66
+ "mp_ef": [],
67
+ "skill_type": ["uncoordinated"]
68
+ }
69
+ ],
70
+ "primitive_annotation": [
71
+ {
72
+ "primitive_idx": 0,
73
+ "primitive_id": [2],
74
+ "primitive_description": ["pick up from"],
75
+ "object_id": [["poster_73", "bar_egwapq_0"]],
76
+ "manipulating_object_id": ["poster_73"],
77
+ "memory_prefix": [],
78
+ "spatial_prefix": [],
79
+ "frame_duration": [0, 638],
80
+ "skill_idxes": [0, 1]
81
+ },
82
+ {
83
+ "primitive_idx": 1,
84
+ "primitive_id": [61],
85
+ "primitive_description": ["hang"],
86
+ "object_id": [["poster_73", "wall_nail_wlnail_1"]],
87
+ "manipulating_object_id": ["poster_73"],
88
+ "memory_prefix": [],
89
+ "spatial_prefix": [],
90
+ "frame_duration": [639, 2334],
91
+ "skill_idxes": [2, 3, 4]
92
+ }
93
+ ]
94
+ }