Add files using upload-large-folder tool
Browse files- annotations/task-0015/episode_00150040.json +212 -0
- annotations/task-0015/episode_00150290.json +212 -0
- annotations/task-0015/episode_00150410.json +212 -0
- annotations/task-0015/episode_00150700.json +212 -0
- annotations/task-0015/episode_00151070.json +212 -0
- annotations/task-0015/episode_00151110.json +212 -0
- annotations/task-0015/episode_00151300.json +212 -0
- annotations/task-0015/episode_00151340.json +212 -0
- annotations/task-0015/episode_00151530.json +235 -0
- annotations/task-0015/episode_00151990.json +212 -0
- annotations/task-0015/episode_00152020.json +212 -0
- annotations/task-0015/episode_00152140.json +212 -0
- annotations/task-0015/episode_00152390.json +212 -0
- annotations/task-0015/episode_00152860.json +212 -0
- annotations/task-0017/episode_00170070.json +165 -0
- annotations/task-0017/episode_00170110.json +165 -0
- annotations/task-0017/episode_00170260.json +165 -0
- annotations/task-0017/episode_00170280.json +165 -0
- annotations/task-0017/episode_00170300.json +165 -0
- annotations/task-0017/episode_00170310.json +165 -0
- annotations/task-0017/episode_00170440.json +165 -0
- annotations/task-0017/episode_00170450.json +165 -0
- annotations/task-0017/episode_00170490.json +165 -0
- annotations/task-0017/episode_00170530.json +153 -0
- annotations/task-0017/episode_00170640.json +165 -0
- annotations/task-0017/episode_00170650.json +153 -0
- annotations/task-0017/episode_00170680.json +165 -0
- annotations/task-0017/episode_00170690.json +165 -0
- annotations/task-0017/episode_00170720.json +165 -0
- annotations/task-0017/episode_00170830.json +165 -0
- annotations/task-0017/episode_00170940.json +165 -0
- annotations/task-0017/episode_00170950.json +153 -0
- annotations/task-0017/episode_00171080.json +153 -0
- annotations/task-0017/episode_00171120.json +153 -0
- annotations/task-0017/episode_00171240.json +153 -0
- annotations/task-0017/episode_00171250.json +153 -0
- annotations/task-0017/episode_00171290.json +153 -0
- annotations/task-0017/episode_00171330.json +153 -0
- annotations/task-0017/episode_00171460.json +153 -0
- annotations/task-0017/episode_00171670.json +153 -0
- annotations/task-0017/episode_00171710.json +153 -0
- annotations/task-0017/episode_00171800.json +153 -0
- annotations/task-0017/episode_00172360.json +165 -0
- annotations/task-0017/episode_00172430.json +165 -0
- annotations/task-0017/episode_00172550.json +153 -0
- annotations/task-0017/episode_00172590.json +153 -0
- annotations/task-0017/episode_00172620.json +165 -0
- annotations/task-0017/episode_00172890.json +165 -0
- annotations/task-0017/episode_00172910.json +165 -0
- annotations/task-0017/episode_00172930.json +165 -0
annotations/task-0015/episode_00150040.json
ADDED
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| 1 |
+
{
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| 2 |
+
"task_name": "bringing in wood",
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| 3 |
+
"data_folder": "",
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| 4 |
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"meta_data": {
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| 5 |
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"task_duration": 15090,
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| 6 |
+
"valid_duration": [0, 15090]
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| 7 |
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},
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| 8 |
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"skill_annotation": [
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| 9 |
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{
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| 10 |
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"skill_idx": 0,
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| 11 |
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"skill_id": [1],
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
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"manipulating_object_id": [],
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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"skill_type": ["navigation"]
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| 20 |
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| 21 |
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{
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| 22 |
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"skill_idx": 1,
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| 23 |
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"skill_id": [2],
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| 24 |
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"skill_description": ["pick up from"],
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| 25 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
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| 26 |
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"manipulating_object_id": ["plywood_201"],
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| 27 |
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"memory_prefix": [],
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| 28 |
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"spatial_prefix": [],
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| 29 |
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"frame_duration": [1137, 1892],
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| 30 |
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"mp_ef": [],
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| 31 |
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"skill_type": ["uncoordinated"]
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| 32 |
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},
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| 33 |
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{
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| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
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| 36 |
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"skill_description": ["move to"],
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| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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"manipulating_object_id": [],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [],
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| 41 |
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"frame_duration": [1892, 2551],
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| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
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},
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| 45 |
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{
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| 46 |
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"skill_idx": 3,
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| 47 |
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"skill_id": [10],
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| 48 |
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"skill_description": ["open door"],
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| 49 |
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"object_id": [["door_vudhlc_1"]],
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| 50 |
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"manipulating_object_id": [],
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| 51 |
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"memory_prefix": [],
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| 52 |
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"spatial_prefix": [],
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| 53 |
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"frame_duration": [2551, 5222],
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| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
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| 56 |
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},
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| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
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| 65 |
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"frame_duration": [5222, 6250],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
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| 77 |
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"frame_duration": [6250, 6841],
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| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
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| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
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| 85 |
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"object_id": [["plywood_203"]],
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| 86 |
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"manipulating_object_id": [],
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| 87 |
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"memory_prefix": ["the other"],
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| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6841, 9156],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
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| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [9156, 9903],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [9903, 10636],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [10637, 11162],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [11163, 13813],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_202"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [13813, 14430],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14430, 15090],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
+
],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [0, 1892],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
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},
|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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"manipulating_object_id": [],
|
| 184 |
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"memory_prefix": [],
|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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"frame_duration": [1892, 5222],
|
| 187 |
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"skill_idxes": [2, 3]
|
| 188 |
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},
|
| 189 |
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{
|
| 190 |
+
"primitive_idx": 2,
|
| 191 |
+
"primitive_id": [3],
|
| 192 |
+
"primitive_description": ["place on"],
|
| 193 |
+
"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 194 |
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"manipulating_object_id": ["plywood_201"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5222, 6841],
|
| 198 |
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"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
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{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_203", "plywood_202"], "floors_qadhjb_0"], [["plywood_202", "plywood_203"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_203", "plywood_202"], ["plywood_202", "plywood_203"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
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"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [6841, 15090],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150290.json
ADDED
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@@ -0,0 +1,212 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13170,
|
| 6 |
+
"valid_duration": [165, 13335]
|
| 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": [165, 709],
|
| 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 |
+
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|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [710, 1428],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [1830, 4085],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4086, 4995],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4995, 5911],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [5911, 8294],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [8295, 8986],
|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [9776, 10353],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [10353, 12762],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [12762, 12977],
|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [12977, 13335],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [165, 1428],
|
| 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": [1428, 4085],
|
| 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": [4086, 5911],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_203"], "floors_qadhjb_0"], [["plywood_203", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_203"], ["plywood_203", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5911, 13335],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150410.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
|
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|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 14916,
|
| 6 |
+
"valid_duration": [0, 14916]
|
| 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, 940],
|
| 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": [940, 1763],
|
| 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 |
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"frame_duration": [1763, 2899],
|
| 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": [2900, 4170],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4170, 5250],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_203"],
|
| 75 |
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|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5250, 5919],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_202"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5919, 7863],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [7863, 8646],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [8646, 9901],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
+
"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [9901, 10611],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
+
"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
+
"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [10611, 13506],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
+
"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_201"],
|
| 147 |
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"memory_prefix": [],
|
| 148 |
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"spatial_prefix": [],
|
| 149 |
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"frame_duration": [13506, 14289],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
+
"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [14290, 14916],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_203"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
+
"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [0, 1763],
|
| 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": [1763, 4170],
|
| 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": [4170, 5919],
|
| 198 |
+
"skill_idxes": [4, 5]
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"primitive_idx": 3,
|
| 202 |
+
"primitive_id": [2, 3],
|
| 203 |
+
"primitive_description": ["pick up from", "place on"],
|
| 204 |
+
"object_id": [[["plywood_202", "plywood_201"], "floors_qadhjb_0"], [["plywood_201", "plywood_202"], "floors_xorxro_0"]],
|
| 205 |
+
"manipulating_object_id": [["plywood_202", "plywood_201"], ["plywood_201", "plywood_202"]],
|
| 206 |
+
"memory_prefix": ["the other", ""],
|
| 207 |
+
"spatial_prefix": [],
|
| 208 |
+
"frame_duration": [5919, 14916],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00150700.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10725,
|
| 6 |
+
"valid_duration": [75, 10800]
|
| 7 |
+
},
|
| 8 |
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"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
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|
| 17 |
+
"frame_duration": [75, 150],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
+
"manipulating_object_id": ["plywood_202"],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
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"frame_duration": [150, 825],
|
| 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": [825, 1460],
|
| 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": [1461, 2640],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [2640, 3720],
|
| 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": [3720, 4104],
|
| 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 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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"mp_ef": [],
|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [7700, 10065],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [10417, 10800],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
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"frame_duration": [75, 825],
|
| 176 |
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"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
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"object_id": [["door_vudhlc_1"]],
|
| 183 |
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"manipulating_object_id": [],
|
| 184 |
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"memory_prefix": [],
|
| 185 |
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"spatial_prefix": [],
|
| 186 |
+
"frame_duration": [825, 2640],
|
| 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": [2640, 4104],
|
| 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": [4105, 10800],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151070.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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"skill_type": ["uncoordinated"]
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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"manipulating_object_id": [],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [3988, 6248],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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"frame_duration": [6249, 7427],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [7427, 7995],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_201"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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|
| 89 |
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"frame_duration": [8007, 10022],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_201"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [10022, 10669],
|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [10669, 10907],
|
| 114 |
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|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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|
| 125 |
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"frame_duration": [10907, 11263],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [14001, 14411],
|
| 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, 2420],
|
| 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, 6248],
|
| 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": [6249, 7995],
|
| 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": [8007, 14411],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151110.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13124,
|
| 6 |
+
"valid_duration": [0, 13124]
|
| 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, 825],
|
| 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": [855, 1419],
|
| 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": [1419, 1569],
|
| 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": [1569, 3582],
|
| 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": [3582, 4705],
|
| 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": [4706, 5300],
|
| 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": [5300, 6775],
|
| 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": [6775, 7366],
|
| 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": [7366, 9175],
|
| 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": [9175, 9642],
|
| 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": [9642, 12217],
|
| 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": [12218, 12699],
|
| 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": [12699, 13124],
|
| 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, 1419],
|
| 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": [1419, 3582],
|
| 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": [3582, 5300],
|
| 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": [5300, 13124],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151300.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 17095,
|
| 6 |
+
"valid_duration": [121, 17216]
|
| 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": [121, 2102],
|
| 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": [2103, 3377],
|
| 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": [3378, 3728],
|
| 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": [3728, 5298],
|
| 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": [5298, 6048],
|
| 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": [6048, 6800],
|
| 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": [6801, 9875],
|
| 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": [9876, 10844],
|
| 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": [10844, 12296],
|
| 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": [12330, 13195],
|
| 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": [13225, 15522],
|
| 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": [15522, 16419],
|
| 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": [16569, 17216],
|
| 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": [121, 3377],
|
| 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": [3378, 5298],
|
| 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": [5298, 6800],
|
| 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": [6801, 17216],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151340.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 42 |
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| 43 |
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|
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| 50 |
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| 51 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 95 |
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| 128 |
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| 130 |
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| 132 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 159 |
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| 160 |
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| 163 |
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|
| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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| 174 |
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| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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{
|
| 201 |
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"primitive_idx": 3,
|
| 202 |
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|
| 203 |
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"primitive_description": ["pick up from", "place on"],
|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00151530.json
ADDED
|
@@ -0,0 +1,235 @@
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
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|
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|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10628,
|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_202"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 1567],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
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"skill_description": ["pick up from"],
|
| 25 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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"skill_description": ["pick up from"],
|
| 37 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [3],
|
| 48 |
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"skill_description": ["place on"],
|
| 49 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["door_vudhlc_1"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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| 66 |
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|
| 67 |
+
"skill_type": ["navigation"]
|
| 68 |
+
},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [10],
|
| 72 |
+
"skill_description": ["open door"],
|
| 73 |
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"object_id": [["door_vudhlc_1"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
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|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [4176, 5550],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["floors_xorxro_0"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5818, 6841],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
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|
| 97 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_202"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [6841, 7289],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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"skill_description": ["move to"],
|
| 145 |
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"object_id": [["floors_xorxro_0"]],
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [9168, 9973],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_203"],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [9973, 10284],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
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|
| 165 |
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{
|
| 166 |
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"skill_idx": 13,
|
| 167 |
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"skill_id": [3],
|
| 168 |
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"skill_description": ["place on"],
|
| 169 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 170 |
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"manipulating_object_id": ["plywood_201"],
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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}
|
| 177 |
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],
|
| 178 |
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"primitive_annotation": [
|
| 179 |
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{
|
| 180 |
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"primitive_idx": 0,
|
| 181 |
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"primitive_id": [2],
|
| 182 |
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"primitive_description": ["pick up from"],
|
| 183 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 184 |
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"manipulating_object_id": ["plywood_202"],
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"skill_idxes": [0, 1]
|
| 189 |
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},
|
| 190 |
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{
|
| 191 |
+
"primitive_idx": 1,
|
| 192 |
+
"primitive_id": [2, 3],
|
| 193 |
+
"primitive_description": ["pick up from", "place on"],
|
| 194 |
+
"object_id": [["plywood_203", "floors_qadhjb_0"], ["plywood_203", "floors_qadhjb_0"]],
|
| 195 |
+
"manipulating_object_id": ["plywood_203", "plywood_203"],
|
| 196 |
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"memory_prefix": ["the other", ""],
|
| 197 |
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"spatial_prefix": [],
|
| 198 |
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"frame_duration": [2447, 3757],
|
| 199 |
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"skill_idxes": [2, 3]
|
| 200 |
+
},
|
| 201 |
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{
|
| 202 |
+
"primitive_idx": 2,
|
| 203 |
+
"primitive_id": [10],
|
| 204 |
+
"primitive_description": ["open door"],
|
| 205 |
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"object_id": [["door_vudhlc_1"]],
|
| 206 |
+
"manipulating_object_id": [],
|
| 207 |
+
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|
| 208 |
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|
| 209 |
+
"frame_duration": [3757, 5550],
|
| 210 |
+
"skill_idxes": [4, 5]
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"primitive_idx": 3,
|
| 214 |
+
"primitive_id": [3],
|
| 215 |
+
"primitive_description": ["place on"],
|
| 216 |
+
"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 217 |
+
"manipulating_object_id": ["plywood_202"],
|
| 218 |
+
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|
| 219 |
+
"spatial_prefix": [],
|
| 220 |
+
"frame_duration": [5818, 7289],
|
| 221 |
+
"skill_idxes": [6, 7]
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"primitive_idx": 4,
|
| 225 |
+
"primitive_id": [2, 3],
|
| 226 |
+
"primitive_description": ["pick up from", "place on"],
|
| 227 |
+
"object_id": [[["plywood_203", "plywood_201"], "floors_qadhjb_0"], [["plywood_203", "plywood_201"], "floors_xorxro_0"]],
|
| 228 |
+
"manipulating_object_id": [["plywood_203", "plywood_201"], ["plywood_203", "plywood_201"]],
|
| 229 |
+
"memory_prefix": ["the other", ""],
|
| 230 |
+
"spatial_prefix": [],
|
| 231 |
+
"frame_duration": [7289, 10628],
|
| 232 |
+
"skill_idxes": [8, 9, 10, 11, 12, 13]
|
| 233 |
+
}
|
| 234 |
+
]
|
| 235 |
+
}
|
annotations/task-0015/episode_00151990.json
ADDED
|
@@ -0,0 +1,212 @@
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [136, 2370],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 26 |
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"manipulating_object_id": ["plywood_202"],
|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [2370, 2995],
|
| 30 |
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"mp_ef": [],
|
| 31 |
+
"skill_type": ["uncoordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [1],
|
| 36 |
+
"skill_description": ["move to"],
|
| 37 |
+
"object_id": [["door_vudhlc_1"]],
|
| 38 |
+
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|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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|
| 41 |
+
"frame_duration": [2995, 3650],
|
| 42 |
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|
| 43 |
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"skill_type": ["navigation"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [10],
|
| 48 |
+
"skill_description": ["open door"],
|
| 49 |
+
"object_id": [["door_vudhlc_1"]],
|
| 50 |
+
"manipulating_object_id": [],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3650, 5104],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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"memory_prefix": [],
|
| 64 |
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|
| 65 |
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"frame_duration": [5104, 6079],
|
| 66 |
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|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
+
"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6079, 6895],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6895, 9157],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [2],
|
| 96 |
+
"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [9157, 10021],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["the other"],
|
| 112 |
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|
| 113 |
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"frame_duration": [10021, 10749],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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{
|
| 130 |
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|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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"frame_duration": [11535, 13047],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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}
|
| 165 |
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],
|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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"primitive_idx": 0,
|
| 169 |
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|
| 170 |
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"primitive_description": ["pick up from"],
|
| 171 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
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"manipulating_object_id": ["plywood_202"],
|
| 173 |
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"memory_prefix": [],
|
| 174 |
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|
| 175 |
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"frame_duration": [136, 2995],
|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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"primitive_idx": 1,
|
| 180 |
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"primitive_id": [10],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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"spatial_prefix": [],
|
| 186 |
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|
| 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 |
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"manipulating_object_id": ["plywood_202"],
|
| 195 |
+
"memory_prefix": [],
|
| 196 |
+
"spatial_prefix": [],
|
| 197 |
+
"frame_duration": [5104, 6895],
|
| 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": [6895, 14190],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00152020.json
ADDED
|
@@ -0,0 +1,212 @@
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|
| 1 |
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{
|
| 2 |
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"task_name": "bringing in wood",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [2882, 4015],
|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5834, 6680],
|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_203"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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"manipulating_object_id": ["plywood_203"],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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{
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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"primitive_annotation": [
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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{
|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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|
| 187 |
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|
| 188 |
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},
|
| 189 |
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{
|
| 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": [4016, 5834],
|
| 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": [5834, 12870],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00152140.json
ADDED
|
@@ -0,0 +1,212 @@
|
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|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12637,
|
| 6 |
+
"valid_duration": [30, 12667]
|
| 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, 849],
|
| 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": [849, 1460],
|
| 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": [1461, 3000],
|
| 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": [3000, 4043],
|
| 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": [4043, 5125],
|
| 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": [5125, 5655],
|
| 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": [5655, 7412],
|
| 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": [7412, 7886],
|
| 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": [7886, 9077],
|
| 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": [9077, 9494],
|
| 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": [9494, 11988],
|
| 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": [11988, 12339],
|
| 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": [12340, 12667],
|
| 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, 1460],
|
| 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": [1461, 4043],
|
| 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": [4043, 5655],
|
| 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": [5655, 12667],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00152390.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
"valid_duration": [60, 12507]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
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"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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"object_id": [["plywood_201"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
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|
| 16 |
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"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [60, 1564],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [2],
|
| 24 |
+
"skill_description": ["pick up from"],
|
| 25 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 26 |
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|
| 27 |
+
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|
| 28 |
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|
| 29 |
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"frame_duration": [1564, 2070],
|
| 30 |
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|
| 31 |
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|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
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"skill_id": [1],
|
| 36 |
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"skill_description": ["move to"],
|
| 37 |
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"object_id": [["door_vudhlc_1"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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|
| 48 |
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"skill_description": ["open door"],
|
| 49 |
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"object_id": [["door_vudhlc_1"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4253, 5394],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_201"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [5394, 6094],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6094, 7829],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [7829, 8244],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["plywood_202"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [8244, 9141],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_202"],
|
| 123 |
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|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [9141, 9626],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
+
},
|
| 129 |
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{
|
| 130 |
+
"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [9626, 11589],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [11589, 12026],
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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{
|
| 154 |
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"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
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"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_202"],
|
| 159 |
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|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [12026, 12507],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_201"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [60, 2070],
|
| 176 |
+
"skill_idxes": [0, 1]
|
| 177 |
+
},
|
| 178 |
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{
|
| 179 |
+
"primitive_idx": 1,
|
| 180 |
+
"primitive_id": [10],
|
| 181 |
+
"primitive_description": ["open door"],
|
| 182 |
+
"object_id": [["door_vudhlc_1"]],
|
| 183 |
+
"manipulating_object_id": [],
|
| 184 |
+
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|
| 185 |
+
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|
| 186 |
+
"frame_duration": [2070, 4253],
|
| 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": [4253, 6094],
|
| 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": [6094, 12507],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0015/episode_00152860.json
ADDED
|
@@ -0,0 +1,212 @@
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing in wood",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11523,
|
| 6 |
+
"valid_duration": [120, 11643]
|
| 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": [120, 503],
|
| 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": [503, 1330],
|
| 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": [1330, 2351],
|
| 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 |
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"frame_duration": [2351, 3480],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [1],
|
| 60 |
+
"skill_description": ["move to"],
|
| 61 |
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"object_id": [["floors_xorxro_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [3480, 4603],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["plywood_202", "floors_xorxro_0"]],
|
| 74 |
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"manipulating_object_id": ["plywood_202"],
|
| 75 |
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|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [4604, 5202],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [1],
|
| 84 |
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"skill_description": ["move to"],
|
| 85 |
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"object_id": [["plywood_203"]],
|
| 86 |
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"manipulating_object_id": [],
|
| 87 |
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"memory_prefix": ["the other"],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5202, 7039],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["navigation"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [2],
|
| 96 |
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"skill_description": ["pick up from"],
|
| 97 |
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"object_id": [["plywood_203", "floors_qadhjb_0"]],
|
| 98 |
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"manipulating_object_id": ["plywood_203"],
|
| 99 |
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"memory_prefix": ["the other"],
|
| 100 |
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|
| 101 |
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"frame_duration": [7039, 7518],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["plywood_201"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [7518, 7989],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [2],
|
| 120 |
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"skill_description": ["pick up from"],
|
| 121 |
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"object_id": [["plywood_201", "floors_qadhjb_0"]],
|
| 122 |
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"manipulating_object_id": ["plywood_201"],
|
| 123 |
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"memory_prefix": ["the other"],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [7989, 8502],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"skill_idx": 10,
|
| 131 |
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"skill_id": [1],
|
| 132 |
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"skill_description": ["move to"],
|
| 133 |
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"object_id": [["floors_xorxro_0"]],
|
| 134 |
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"manipulating_object_id": [],
|
| 135 |
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"memory_prefix": ["back"],
|
| 136 |
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"spatial_prefix": [],
|
| 137 |
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"frame_duration": [8502, 10637],
|
| 138 |
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"mp_ef": [],
|
| 139 |
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"skill_type": ["navigation"]
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"skill_idx": 11,
|
| 143 |
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"skill_id": [3],
|
| 144 |
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"skill_description": ["place on"],
|
| 145 |
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"object_id": [["plywood_203", "floors_xorxro_0"]],
|
| 146 |
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"manipulating_object_id": ["plywood_203"],
|
| 147 |
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|
| 148 |
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|
| 149 |
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"frame_duration": [10637, 10974],
|
| 150 |
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"mp_ef": [],
|
| 151 |
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"skill_type": ["uncoordinated"]
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"skill_idx": 12,
|
| 155 |
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"skill_id": [3],
|
| 156 |
+
"skill_description": ["place on"],
|
| 157 |
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"object_id": [["plywood_201", "floors_xorxro_0"]],
|
| 158 |
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"manipulating_object_id": ["plywood_201"],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [10974, 11643],
|
| 162 |
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"mp_ef": [],
|
| 163 |
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"skill_type": ["uncoordinated"]
|
| 164 |
+
}
|
| 165 |
+
],
|
| 166 |
+
"primitive_annotation": [
|
| 167 |
+
{
|
| 168 |
+
"primitive_idx": 0,
|
| 169 |
+
"primitive_id": [2],
|
| 170 |
+
"primitive_description": ["pick up from"],
|
| 171 |
+
"object_id": [["plywood_202", "floors_qadhjb_0"]],
|
| 172 |
+
"manipulating_object_id": ["plywood_202"],
|
| 173 |
+
"memory_prefix": [],
|
| 174 |
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"spatial_prefix": [],
|
| 175 |
+
"frame_duration": [120, 1330],
|
| 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": [1330, 3480],
|
| 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": [3480, 5202],
|
| 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": [5202, 11643],
|
| 209 |
+
"skill_idxes": [6, 7, 8, 9, 10, 11, 12]
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
}
|
annotations/task-0017/episode_00170070.json
ADDED
|
@@ -0,0 +1,165 @@
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11059,
|
| 6 |
+
"valid_duration": [114, 11173]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
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|
| 17 |
+
"frame_duration": [114, 828],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
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|
| 29 |
+
"frame_duration": [828, 2360],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "high_level"]],
|
| 41 |
+
"frame_duration": [2362, 3278],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3278, 3679],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 65 |
+
"frame_duration": [3679, 4371],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4371, 6216],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6217, 6864],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6864, 7755],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7755, 9138],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9138, 11173],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [114, 2360],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["high_level", "middle_level"]], []],
|
| 150 |
+
"frame_duration": [2362, 7755],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7755, 11173],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170110.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7356,
|
| 6 |
+
"valid_duration": [24, 7380]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [24, 1034],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1034, 2150],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 41 |
+
"frame_duration": [2150, 2806],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2806, 3104],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "high_level"]],
|
| 65 |
+
"frame_duration": [3104, 3589],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3589, 4719],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4719, 5289],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5289, 5349],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5349, 7015],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7015, 7380],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [24, 2150],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["middle_level", "high_level"]], []],
|
| 150 |
+
"frame_duration": [2150, 5349],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [5349, 7380],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170260.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 6477,
|
| 6 |
+
"valid_duration": [0, 6477]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 156],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
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"object_id": [["fridge_dszchb_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
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|
| 28 |
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"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [156, 1207],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
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"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
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"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
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"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [["", "high_level"]],
|
| 41 |
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"frame_duration": [1425, 1808],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [5],
|
| 48 |
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"skill_description": ["hand over"],
|
| 49 |
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"object_id": [["beer_bottle_268", "right", "left"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [1827, 2091],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [2],
|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 62 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 63 |
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"memory_prefix": ["the other"],
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [2471, 3646],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [3646, 4727],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
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"skill_description": ["place on"],
|
| 97 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [4727, 4836],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["back"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [4836, 6184],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
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"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
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"object_id": [["fridge_dszchb_0"]],
|
| 122 |
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"manipulating_object_id": [],
|
| 123 |
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|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [6184, 6477],
|
| 126 |
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"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
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"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
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"manipulating_object_id": [],
|
| 137 |
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|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
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"frame_duration": [0, 1207],
|
| 140 |
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|
| 141 |
+
},
|
| 142 |
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{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["high_level", "middle_level"]], []],
|
| 150 |
+
"frame_duration": [1425, 4836],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [4836, 6477],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170280.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [85, 1494],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
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"skill_description": ["pick up from"],
|
| 37 |
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"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [3280, 4410],
|
| 42 |
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"mp_ef": [],
|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [5],
|
| 48 |
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"skill_description": ["hand over"],
|
| 49 |
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"object_id": [["beer_bottle_268", "right", "left"]],
|
| 50 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [4410, 4809],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 63 |
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"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "low_level"]],
|
| 65 |
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"frame_duration": [4809, 5370],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
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},
|
| 69 |
+
{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5370, 7350],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7350, 7992],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [7992, 8939],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
+
},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["back"],
|
| 112 |
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|
| 113 |
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"frame_duration": [8940, 10503],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [12],
|
| 120 |
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"skill_description": ["close door"],
|
| 121 |
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"object_id": [["fridge_dszchb_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [10503, 12060],
|
| 126 |
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|
| 127 |
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|
| 128 |
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}
|
| 129 |
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],
|
| 130 |
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"primitive_annotation": [
|
| 131 |
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{
|
| 132 |
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|
| 133 |
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|
| 134 |
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"primitive_description": ["open door"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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"frame_duration": [85, 3279],
|
| 140 |
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|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"primitive_idx": 1,
|
| 144 |
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"primitive_id": [2, 3],
|
| 145 |
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"primitive_description": ["pick up from", "place on"],
|
| 146 |
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"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
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"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
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"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["middle_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [3280, 8939],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8940, 12060],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170300.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11302,
|
| 6 |
+
"valid_duration": [0, 11302]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 363],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [363, 2334],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "high_level"]],
|
| 41 |
+
"frame_duration": [2334, 3237],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3237, 3724],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 65 |
+
"frame_duration": [3724, 4442],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4502, 6715],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6715, 7200],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7290, 7961],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8231, 9814],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9814, 11302],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2334],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["high_level", "middle_level"]], []],
|
| 150 |
+
"frame_duration": [2334, 7961],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8231, 11302],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170310.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11065,
|
| 6 |
+
"valid_duration": [0, 11065]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 955],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [955, 2733],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 41 |
+
"frame_duration": [2733, 3352],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3352, 3779],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "low_level"]],
|
| 65 |
+
"frame_duration": [3779, 4308],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4308, 6609],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6609, 7099],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7099, 7848],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7848, 9881],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9881, 11065],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 2733],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["middle_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [2733, 7848],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7848, 11065],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170440.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7412,
|
| 6 |
+
"valid_duration": [28, 7440]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [28, 745],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [745, 1936],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "low_level"]],
|
| 41 |
+
"frame_duration": [1936, 2872],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_268", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2896, 3212],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "low_level"]],
|
| 65 |
+
"frame_duration": [3212, 3485],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3603, 4726],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4727, 5406],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5406, 5610],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5848, 7030],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7109, 7440],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [28, 1936],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["low_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [1936, 5610],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [5848, 7440],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170450.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing water",
|
| 3 |
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|
| 4 |
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"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [2],
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [3139, 4389],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [4389, 5007],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
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"skill_description": ["place on"],
|
| 97 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [5007, 5586],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["back"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5586, 6949],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
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"object_id": [["fridge_dszchb_0"]],
|
| 122 |
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"manipulating_object_id": [],
|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [6949, 7251],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
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"memory_prefix": [],
|
| 138 |
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"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1727],
|
| 140 |
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|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["middle_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [1727, 5586],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [5586, 7251],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170490.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
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|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10219,
|
| 6 |
+
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [148, 1341],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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|
| 23 |
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"skill_id": [10],
|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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"object_id": [["fridge_dszchb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
+
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
+
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|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
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"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
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"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
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|
| 52 |
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|
| 53 |
+
"frame_duration": [3708, 4055],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "low_level"]],
|
| 65 |
+
"frame_duration": [4055, 4494],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4856, 6487],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6487, 6990],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6990, 7503],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7503, 8964],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8964, 10367],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [148, 2970],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["low_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [2970, 7503],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7503, 10367],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170530.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8534,
|
| 6 |
+
"valid_duration": [84, 8618]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [84, 986],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [986, 2112],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "high_level"]],
|
| 41 |
+
"frame_duration": [2112, 3158],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "beer_bottle_267"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "high_level"]],
|
| 53 |
+
"frame_duration": [3158, 3867],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3867, 5051],
|
| 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": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5051, 5591],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5591, 5973],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5973, 8267],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8267, 8618],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [84, 2112],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], ["fridge_dszchb_0", "beer_bottle_267"]], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["high_level", "high_level"]], []],
|
| 138 |
+
"frame_duration": [2112, 5973],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5973, 8618],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00170640.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
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|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
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|
|
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|
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|
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|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing water",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
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|
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|
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| 52 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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{
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
+
},
|
| 153 |
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{
|
| 154 |
+
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|
| 155 |
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"primitive_id": [12],
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170650.json
ADDED
|
@@ -0,0 +1,153 @@
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing water",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["pick up from"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["coffee_table_rlsebe_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 74 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4710, 5166],
|
| 78 |
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|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [5166, 5454],
|
| 90 |
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|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [1],
|
| 96 |
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"skill_description": ["move to"],
|
| 97 |
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"object_id": [["fridge_dszchb_0"]],
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [5454, 7263],
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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|
| 108 |
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"skill_description": ["close door"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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{
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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"frame_duration": [45, 1945],
|
| 128 |
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|
| 129 |
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},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["low_level", "low_level"]], []],
|
| 138 |
+
"frame_duration": [1945, 5454],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5454, 7659],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00170680.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7562,
|
| 6 |
+
"valid_duration": [0, 7562]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 711],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [711, 1893],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "high_level"]],
|
| 41 |
+
"frame_duration": [1893, 2490],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_268", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2490, 2774],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 65 |
+
"frame_duration": [2775, 3681],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3681, 4860],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4861, 5481],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5481, 5828],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5828, 7152],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7152, 7562],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [0, 1893],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["high_level", "middle_level"]], []],
|
| 150 |
+
"frame_duration": [1893, 5828],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [5828, 7562],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170690.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7483,
|
| 6 |
+
"valid_duration": [24, 7507]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [24, 603],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [603, 1822],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "high_level"]],
|
| 41 |
+
"frame_duration": [1822, 2376],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
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"frame_duration": [2379, 2655],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "low_level"]],
|
| 65 |
+
"frame_duration": [2656, 3336],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3336, 4874],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [4874, 5530],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5530, 5877],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [5879, 7200],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [7200, 7507],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [24, 1822],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["high_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [1822, 5877],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [5879, 7507],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170720.json
ADDED
|
@@ -0,0 +1,165 @@
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|
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|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12401,
|
| 6 |
+
"valid_duration": [60, 12461]
|
| 7 |
+
},
|
| 8 |
+
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|
| 9 |
+
{
|
| 10 |
+
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|
| 11 |
+
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|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [60, 1398],
|
| 18 |
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|
| 19 |
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|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
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"object_id": [["fridge_dszchb_0"]],
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"frame_duration": [1398, 3375],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "low_level"]],
|
| 41 |
+
"frame_duration": [3375, 4220],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_268", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [4220, 4661],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "low_level"]],
|
| 65 |
+
"frame_duration": [4661, 5062],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5062, 7239],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7239, 8522],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8523, 9399],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [9399, 10983],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [10991, 12461],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [60, 3375],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["low_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [3375, 9399],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [9399, 12461],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170830.json
ADDED
|
@@ -0,0 +1,165 @@
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| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
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"data_folder": "",
|
| 4 |
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"meta_data": {
|
| 5 |
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"task_duration": 7830,
|
| 6 |
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"valid_duration": [0, 7830]
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| 7 |
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},
|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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"skill_idx": 0,
|
| 11 |
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"skill_id": [1],
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| 12 |
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"skill_description": ["move to"],
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| 13 |
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"object_id": [["fridge_dszchb_0"]],
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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{
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| 22 |
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| 23 |
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| 24 |
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"skill_description": ["open door"],
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| 25 |
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"object_id": [["fridge_dszchb_0"]],
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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| 36 |
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"skill_description": ["pick up from"],
|
| 37 |
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"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
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"memory_prefix": [],
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [5],
|
| 48 |
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"skill_description": ["hand over"],
|
| 49 |
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"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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"mp_ef": [],
|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [2],
|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
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"manipulating_object_id": ["beer_bottle_268"],
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| 63 |
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"memory_prefix": ["the other"],
|
| 64 |
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"spatial_prefix": [["", "low_level"]],
|
| 65 |
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"frame_duration": [3036, 3925],
|
| 66 |
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"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [3925, 5087],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_267"],
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| 87 |
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"memory_prefix": [],
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| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [5087, 5710],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
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"skill_description": ["place on"],
|
| 97 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
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| 98 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
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"memory_prefix": [],
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| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [5710, 6261],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["back"],
|
| 112 |
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"spatial_prefix": [],
|
| 113 |
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"frame_duration": [6276, 7480],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["navigation"]
|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [12],
|
| 120 |
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"skill_description": ["close door"],
|
| 121 |
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"object_id": [["fridge_dszchb_0"]],
|
| 122 |
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"manipulating_object_id": [],
|
| 123 |
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"memory_prefix": [],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [7482, 7830],
|
| 126 |
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"mp_ef": [],
|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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}
|
| 129 |
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],
|
| 130 |
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"primitive_annotation": [
|
| 131 |
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{
|
| 132 |
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"primitive_idx": 0,
|
| 133 |
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"primitive_id": [10],
|
| 134 |
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"primitive_description": ["open door"],
|
| 135 |
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"object_id": [["fridge_dszchb_0"]],
|
| 136 |
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"manipulating_object_id": [],
|
| 137 |
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"memory_prefix": [],
|
| 138 |
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"spatial_prefix": [],
|
| 139 |
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"frame_duration": [0, 2207],
|
| 140 |
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"skill_idxes": [0, 1]
|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"primitive_idx": 1,
|
| 144 |
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"primitive_id": [2, 3],
|
| 145 |
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"primitive_description": ["pick up from", "place on"],
|
| 146 |
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"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
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"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
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"memory_prefix": [],
|
| 149 |
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"spatial_prefix": [[[], ["high_level", "low_level"]], []],
|
| 150 |
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"frame_duration": [2207, 6261],
|
| 151 |
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"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
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{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
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"primitive_id": [12],
|
| 156 |
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"primitive_description": ["close door"],
|
| 157 |
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"object_id": [["fridge_dszchb_0"]],
|
| 158 |
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"manipulating_object_id": [],
|
| 159 |
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"memory_prefix": [],
|
| 160 |
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"spatial_prefix": [],
|
| 161 |
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"frame_duration": [6276, 7830],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170940.json
ADDED
|
@@ -0,0 +1,165 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10559,
|
| 6 |
+
"valid_duration": [10, 10569]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [10, 1209],
|
| 18 |
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"mp_ef": [],
|
| 19 |
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"skill_type": ["navigation"]
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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"skill_id": [10],
|
| 24 |
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"skill_description": ["open door"],
|
| 25 |
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"object_id": [["fridge_dszchb_0"]],
|
| 26 |
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"manipulating_object_id": [],
|
| 27 |
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"memory_prefix": [],
|
| 28 |
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|
| 29 |
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"frame_duration": [1209, 2799],
|
| 30 |
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"mp_ef": [],
|
| 31 |
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"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
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"spatial_prefix": [["", "middle_level"]],
|
| 41 |
+
"frame_duration": [2799, 3489],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
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{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_268", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
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"memory_prefix": [],
|
| 52 |
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"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [3489, 3964],
|
| 54 |
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"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "low_level"]],
|
| 65 |
+
"frame_duration": [3964, 4755],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4755, 6474],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6474, 7251],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [7251, 8136],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8347, 9373],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [9374, 10569],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [10, 2799],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["middle_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [2799, 8136],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [8347, 10569],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00170950.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8717,
|
| 6 |
+
"valid_duration": [46, 8763]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [46, 1197],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1197, 2269],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 41 |
+
"frame_duration": [2269, 3333],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "low_level"]],
|
| 53 |
+
"frame_duration": [3333, 3975],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3975, 5224],
|
| 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": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5224, 5613],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5613, 6204],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6204, 8362],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8362, 8763],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [46, 2269],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["middle_level", "low_level"]], []],
|
| 138 |
+
"frame_duration": [2269, 6204],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [6204, 8763],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171080.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
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|
| 4 |
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"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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"skill_annotation": [
|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 74 |
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| 75 |
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| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [8862, 9695],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
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"skill_id": [1],
|
| 96 |
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"skill_description": ["move to"],
|
| 97 |
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"object_id": [["fridge_dszchb_0"]],
|
| 98 |
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"manipulating_object_id": [],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [9695, 12115],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["navigation"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [12],
|
| 108 |
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"skill_description": ["close door"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [12115, 12837],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["uncoordinated"]
|
| 116 |
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}
|
| 117 |
+
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|
| 118 |
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"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
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"primitive_idx": 0,
|
| 121 |
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|
| 122 |
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"primitive_description": ["open door"],
|
| 123 |
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"object_id": [["fridge_dszchb_0"]],
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
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"primitive_id": [2, 3],
|
| 133 |
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"primitive_description": ["pick up from", "place on"],
|
| 134 |
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|
| 135 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 136 |
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|
| 137 |
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"spatial_prefix": [[[], ["high_level", "low_level"]], []],
|
| 138 |
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"frame_duration": [3866, 9695],
|
| 139 |
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|
| 140 |
+
},
|
| 141 |
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{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
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"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
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"object_id": [["fridge_dszchb_0"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
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|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [9695, 12837],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171120.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["pick up from"],
|
| 37 |
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"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [2547, 3354],
|
| 42 |
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|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 50 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
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"memory_prefix": ["the other"],
|
| 52 |
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"spatial_prefix": [["", "middle_level"]],
|
| 53 |
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|
| 54 |
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|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
+
},
|
| 57 |
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{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 62 |
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|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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"frame_duration": [4239, 5805],
|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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"spatial_prefix": [],
|
| 77 |
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"frame_duration": [5805, 6450],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
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{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
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"memory_prefix": [],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6450, 7210],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
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"object_id": [["fridge_dszchb_0"]],
|
| 98 |
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"manipulating_object_id": [],
|
| 99 |
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"memory_prefix": ["back"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [7210, 8606],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["navigation"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
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"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
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|
| 113 |
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"frame_duration": [8607, 10136],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
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"primitive_annotation": [
|
| 119 |
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{
|
| 120 |
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"primitive_idx": 0,
|
| 121 |
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"primitive_id": [10],
|
| 122 |
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"primitive_description": ["open door"],
|
| 123 |
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"object_id": [["fridge_dszchb_0"]],
|
| 124 |
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"manipulating_object_id": [],
|
| 125 |
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|
| 126 |
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"spatial_prefix": [],
|
| 127 |
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"frame_duration": [42, 2546],
|
| 128 |
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"skill_idxes": [0, 1]
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"primitive_idx": 1,
|
| 132 |
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"primitive_id": [2, 3],
|
| 133 |
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"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["low_level", "middle_level"]], []],
|
| 138 |
+
"frame_duration": [2547, 7210],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [7210, 10136],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171240.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 13609,
|
| 6 |
+
"valid_duration": [52, 13661]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [52, 1462],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1462, 3655],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "low_level"]],
|
| 41 |
+
"frame_duration": [3655, 4826],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "low_level"]],
|
| 53 |
+
"frame_duration": [4826, 5572],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5572, 7363],
|
| 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": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7363, 8376],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8377, 9397],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [9398, 12300],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [12300, 13661],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [52, 3655],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["low_level", "low_level"]], []],
|
| 138 |
+
"frame_duration": [3655, 9397],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [9398, 13661],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171250.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 12123,
|
| 6 |
+
"valid_duration": [0, 12123]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1078],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1078, 3246],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "high_level"]],
|
| 41 |
+
"frame_duration": [3246, 4632],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 53 |
+
"frame_duration": [4632, 5652],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5652, 7371],
|
| 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": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [7371, 8173],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [8173, 8799],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8799, 11334],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [11334, 12123],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [0, 3246],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["high_level", "middle_level"]], []],
|
| 138 |
+
"frame_duration": [3246, 8799],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [8799, 12123],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171290.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 11400,
|
| 6 |
+
"valid_duration": [0, 11400]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 876],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [876, 2411],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "high_level"]],
|
| 41 |
+
"frame_duration": [2411, 3780],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 53 |
+
"frame_duration": [3783, 4972],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4972, 6986],
|
| 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": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6986, 7602],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7602, 8123],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8123, 10561],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10561, 11400],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [0, 2411],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["high_level", "middle_level"]], []],
|
| 138 |
+
"frame_duration": [2411, 8123],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [8123, 11400],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171330.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"frame_duration": [0, 270],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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"skill_idx": 1,
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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"object_id": [["coffee_table_rlsebe_0"]],
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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"skill_type": ["navigation"]
|
| 68 |
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|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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"skill_id": [3],
|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [7892, 8590],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [1],
|
| 96 |
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"skill_description": ["move to"],
|
| 97 |
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"object_id": [["fridge_dszchb_0"]],
|
| 98 |
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"manipulating_object_id": [],
|
| 99 |
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|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [8590, 11098],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["navigation"]
|
| 104 |
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|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [12],
|
| 108 |
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"skill_description": ["close door"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [11098, 11856],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["uncoordinated"]
|
| 116 |
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|
| 117 |
+
],
|
| 118 |
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"primitive_annotation": [
|
| 119 |
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{
|
| 120 |
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"primitive_idx": 0,
|
| 121 |
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"primitive_id": [10],
|
| 122 |
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"primitive_description": ["open door"],
|
| 123 |
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"object_id": [["fridge_dszchb_0"]],
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
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"primitive_id": [2, 3],
|
| 133 |
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"primitive_description": ["pick up from", "place on"],
|
| 134 |
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|
| 135 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 136 |
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|
| 137 |
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"spatial_prefix": [[[], ["high_level", "low_level"]], []],
|
| 138 |
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"frame_duration": [2550, 8590],
|
| 139 |
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"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
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"object_id": [["fridge_dszchb_0"]],
|
| 146 |
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"manipulating_object_id": [],
|
| 147 |
+
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|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [8590, 11856],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171460.json
ADDED
|
@@ -0,0 +1,153 @@
|
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|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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"skill_description": ["move to"],
|
| 13 |
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"object_id": [["fridge_dszchb_0"]],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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"skill_description": ["pick up from"],
|
| 37 |
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"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [2],
|
| 48 |
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"skill_description": ["pick up from"],
|
| 49 |
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"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 50 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [4326, 5177],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["uncoordinated"]
|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [1],
|
| 60 |
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"skill_description": ["move to"],
|
| 61 |
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"object_id": [["coffee_table_rlsebe_0"]],
|
| 62 |
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"manipulating_object_id": [],
|
| 63 |
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"memory_prefix": [],
|
| 64 |
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"spatial_prefix": [],
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
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"skill_id": [3],
|
| 72 |
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"skill_description": ["place on"],
|
| 73 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 74 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [6315, 6921],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["uncoordinated"]
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
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"memory_prefix": [],
|
| 88 |
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"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6921, 7305],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
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"object_id": [["fridge_dszchb_0"]],
|
| 98 |
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"manipulating_object_id": [],
|
| 99 |
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"memory_prefix": ["back"],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [7319, 9146],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["navigation"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": [],
|
| 112 |
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|
| 113 |
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"frame_duration": [9146, 9563],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
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"primitive_annotation": [
|
| 119 |
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{
|
| 120 |
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"primitive_idx": 0,
|
| 121 |
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"primitive_id": [10],
|
| 122 |
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"primitive_description": ["open door"],
|
| 123 |
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"object_id": [["fridge_dszchb_0"]],
|
| 124 |
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"manipulating_object_id": [],
|
| 125 |
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|
| 126 |
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"spatial_prefix": [],
|
| 127 |
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"frame_duration": [56, 3097],
|
| 128 |
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|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"primitive_idx": 1,
|
| 132 |
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"primitive_id": [2, 3],
|
| 133 |
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"primitive_description": ["pick up from", "place on"],
|
| 134 |
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"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 136 |
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|
| 137 |
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"spatial_prefix": [[[], ["middle_level", "middle_level"]], []],
|
| 138 |
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"frame_duration": [3097, 7305],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [7319, 9563],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171670.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8641,
|
| 6 |
+
"valid_duration": [59, 8700]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [59, 1143],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1143, 2404],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "low_level"]],
|
| 41 |
+
"frame_duration": [2404, 3492],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "low_level"]],
|
| 53 |
+
"frame_duration": [3492, 4141],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4141, 5497],
|
| 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": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5497, 6099],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6100, 6547],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6547, 8214],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8214, 8700],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [59, 2404],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], ["coffee_table_rlsebe_0", "fridge_dszchb_0"]]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["low_level", "low_level"]], []],
|
| 138 |
+
"frame_duration": [2404, 6547],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [6547, 8700],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171710.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 9318,
|
| 6 |
+
"valid_duration": [45, 9363]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [45, 1501],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1501, 2852],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "low_level"]],
|
| 41 |
+
"frame_duration": [2852, 3738],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "low_level"]],
|
| 53 |
+
"frame_duration": [3738, 4265],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [4268, 5934],
|
| 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": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [5935, 6489],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [6489, 6783],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6843, 8874],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [8874, 9363],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [45, 2852],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["low_level", "low_level"]], []],
|
| 138 |
+
"frame_duration": [2852, 6783],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [6843, 9363],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00171800.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
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|
|
|
|
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|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 10500,
|
| 6 |
+
"valid_duration": [0, 10500]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [0, 1352],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1352, 3222],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "low_level"]],
|
| 41 |
+
"frame_duration": [3222, 4701],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "low_level"]],
|
| 53 |
+
"frame_duration": [4701, 5320],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [5320, 6773],
|
| 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": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [6773, 7518],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [7518, 8100],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [8100, 10058],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [10058, 10500],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [0, 3222],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["low_level", "low_level"]], []],
|
| 138 |
+
"frame_duration": [3222, 8100],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [8100, 10500],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00172360.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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|
| 44 |
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|
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|
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| 52 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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{
|
| 106 |
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|
| 107 |
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|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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{
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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{
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
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|
| 155 |
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"primitive_id": [12],
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00172430.json
ADDED
|
@@ -0,0 +1,165 @@
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing water",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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"skill_id": [5],
|
| 48 |
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|
| 49 |
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"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [3399, 3834],
|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
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"memory_prefix": ["the other"],
|
| 64 |
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"spatial_prefix": [["", "high_level"]],
|
| 65 |
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|
| 66 |
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|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4260, 6465],
|
| 78 |
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|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6465, 7109],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
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"skill_description": ["place on"],
|
| 97 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [7110, 7441],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"skill_idx": 8,
|
| 107 |
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"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"frame_duration": [7516, 9598],
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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"skill_id": [12],
|
| 120 |
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"skill_description": ["close door"],
|
| 121 |
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"object_id": [["fridge_dszchb_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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],
|
| 130 |
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"primitive_annotation": [
|
| 131 |
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{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [60, 2573],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["middle_level", "high_level"]], []],
|
| 150 |
+
"frame_duration": [2573, 7441],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7516, 10290],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00172550.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8044,
|
| 6 |
+
"valid_duration": [24, 8068]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [24, 932],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [932, 2104],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 41 |
+
"frame_duration": [2104, 2850],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "low_level"]],
|
| 53 |
+
"frame_duration": [2850, 3635],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3638, 4822],
|
| 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": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4824, 5338],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5338, 5685],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5685, 7540],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7540, 8068],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [24, 2104],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["middle_level", "low_level"]], []],
|
| 138 |
+
"frame_duration": [2104, 5685],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5685, 8068],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00172590.json
ADDED
|
@@ -0,0 +1,153 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 7717,
|
| 6 |
+
"valid_duration": [130, 7847]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [130, 1039],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [1039, 2311],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 41 |
+
"frame_duration": [2311, 2898],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [2],
|
| 48 |
+
"skill_description": ["pick up from"],
|
| 49 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 51 |
+
"memory_prefix": ["the other"],
|
| 52 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 53 |
+
"frame_duration": [2898, 3567],
|
| 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": [["coffee_table_rlsebe_0"]],
|
| 62 |
+
"manipulating_object_id": [],
|
| 63 |
+
"memory_prefix": [],
|
| 64 |
+
"spatial_prefix": [],
|
| 65 |
+
"frame_duration": [3567, 4673],
|
| 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": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [4673, 5181],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["uncoordinated"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5181, 5460],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [1],
|
| 96 |
+
"skill_description": ["move to"],
|
| 97 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 98 |
+
"manipulating_object_id": [],
|
| 99 |
+
"memory_prefix": ["back"],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [5472, 7377],
|
| 102 |
+
"mp_ef": [],
|
| 103 |
+
"skill_type": ["navigation"]
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [12],
|
| 108 |
+
"skill_description": ["close door"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": [],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7377, 7847],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["uncoordinated"]
|
| 116 |
+
}
|
| 117 |
+
],
|
| 118 |
+
"primitive_annotation": [
|
| 119 |
+
{
|
| 120 |
+
"primitive_idx": 0,
|
| 121 |
+
"primitive_id": [10],
|
| 122 |
+
"primitive_description": ["open door"],
|
| 123 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 124 |
+
"manipulating_object_id": [],
|
| 125 |
+
"memory_prefix": [],
|
| 126 |
+
"spatial_prefix": [],
|
| 127 |
+
"frame_duration": [130, 2311],
|
| 128 |
+
"skill_idxes": [0, 1]
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"primitive_idx": 1,
|
| 132 |
+
"primitive_id": [2, 3],
|
| 133 |
+
"primitive_description": ["pick up from", "place on"],
|
| 134 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 135 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 136 |
+
"memory_prefix": [],
|
| 137 |
+
"spatial_prefix": [[[], ["middle_level", "middle_level"]], []],
|
| 138 |
+
"frame_duration": [2311, 5460],
|
| 139 |
+
"skill_idxes": [2, 3, 4, 5, 6]
|
| 140 |
+
},
|
| 141 |
+
{
|
| 142 |
+
"primitive_idx": 2,
|
| 143 |
+
"primitive_id": [12],
|
| 144 |
+
"primitive_description": ["close door"],
|
| 145 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 146 |
+
"manipulating_object_id": [],
|
| 147 |
+
"memory_prefix": [],
|
| 148 |
+
"spatial_prefix": [],
|
| 149 |
+
"frame_duration": [5472, 7847],
|
| 150 |
+
"skill_idxes": [7, 8]
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
}
|
annotations/task-0017/episode_00172620.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
"task_duration": 8732,
|
| 6 |
+
"valid_duration": [58, 8790]
|
| 7 |
+
},
|
| 8 |
+
"skill_annotation": [
|
| 9 |
+
{
|
| 10 |
+
"skill_idx": 0,
|
| 11 |
+
"skill_id": [1],
|
| 12 |
+
"skill_description": ["move to"],
|
| 13 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 14 |
+
"manipulating_object_id": [],
|
| 15 |
+
"memory_prefix": [],
|
| 16 |
+
"spatial_prefix": [],
|
| 17 |
+
"frame_duration": [58, 782],
|
| 18 |
+
"mp_ef": [],
|
| 19 |
+
"skill_type": ["navigation"]
|
| 20 |
+
},
|
| 21 |
+
{
|
| 22 |
+
"skill_idx": 1,
|
| 23 |
+
"skill_id": [10],
|
| 24 |
+
"skill_description": ["open door"],
|
| 25 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 26 |
+
"manipulating_object_id": [],
|
| 27 |
+
"memory_prefix": [],
|
| 28 |
+
"spatial_prefix": [],
|
| 29 |
+
"frame_duration": [782, 2036],
|
| 30 |
+
"mp_ef": [],
|
| 31 |
+
"skill_type": ["coordinated"]
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"skill_idx": 2,
|
| 35 |
+
"skill_id": [2],
|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
+
"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 38 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 39 |
+
"memory_prefix": [],
|
| 40 |
+
"spatial_prefix": [["", "high_level"]],
|
| 41 |
+
"frame_duration": [2039, 2545],
|
| 42 |
+
"mp_ef": [],
|
| 43 |
+
"skill_type": ["uncoordinated"]
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"skill_idx": 3,
|
| 47 |
+
"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
+
"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
+
"memory_prefix": [],
|
| 52 |
+
"spatial_prefix": [],
|
| 53 |
+
"frame_duration": [2547, 2806],
|
| 54 |
+
"mp_ef": [],
|
| 55 |
+
"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 65 |
+
"frame_duration": [2808, 3343],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
+
"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
+
"spatial_prefix": [],
|
| 77 |
+
"frame_duration": [3344, 5475],
|
| 78 |
+
"mp_ef": [],
|
| 79 |
+
"skill_type": ["navigation"]
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
+
"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
+
"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
+
"frame_duration": [5476, 6083],
|
| 90 |
+
"mp_ef": [],
|
| 91 |
+
"skill_type": ["uncoordinated"]
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"skill_idx": 7,
|
| 95 |
+
"skill_id": [3],
|
| 96 |
+
"skill_description": ["place on"],
|
| 97 |
+
"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
+
"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
+
"memory_prefix": [],
|
| 100 |
+
"spatial_prefix": [],
|
| 101 |
+
"frame_duration": [6083, 6276],
|
| 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": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [6299, 8219],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 122 |
+
"manipulating_object_id": [],
|
| 123 |
+
"memory_prefix": [],
|
| 124 |
+
"spatial_prefix": [],
|
| 125 |
+
"frame_duration": [8235, 8790],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [58, 2036],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["high_level", "middle_level"]], []],
|
| 150 |
+
"frame_duration": [2039, 6276],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [6299, 8790],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00172890.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
| 1 |
+
{
|
| 2 |
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"task_name": "bringing water",
|
| 3 |
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|
| 4 |
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"meta_data": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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{
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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{
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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"skill_description": ["move to"],
|
| 73 |
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|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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|
| 76 |
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|
| 77 |
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"frame_duration": [4813, 6780],
|
| 78 |
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|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6780, 7395],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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|
| 92 |
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|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
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"skill_description": ["place on"],
|
| 97 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
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|
| 100 |
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|
| 101 |
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"frame_duration": [7395, 7787],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
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"skill_description": ["move to"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["back"],
|
| 112 |
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|
| 113 |
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"frame_duration": [7787, 9551],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
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"object_id": [["fridge_dszchb_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"frame_duration": [9552, 10101],
|
| 126 |
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"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
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"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
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"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
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|
| 138 |
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"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [60, 2839],
|
| 140 |
+
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|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["middle_level", "low_level"]], []],
|
| 150 |
+
"frame_duration": [2839, 7787],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7787, 10101],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00172910.json
ADDED
|
@@ -0,0 +1,165 @@
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
+
"meta_data": {
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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{
|
| 34 |
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|
| 35 |
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|
| 36 |
+
"skill_description": ["pick up from"],
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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"skill_type": ["uncoordinated"]
|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [5],
|
| 48 |
+
"skill_description": ["hand over"],
|
| 49 |
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"object_id": [["beer_bottle_267", "right", "left"]],
|
| 50 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 51 |
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|
| 52 |
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|
| 53 |
+
"frame_duration": [3516, 3735],
|
| 54 |
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"mp_ef": [],
|
| 55 |
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"skill_type": ["coordinated"]
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"skill_idx": 4,
|
| 59 |
+
"skill_id": [2],
|
| 60 |
+
"skill_description": ["pick up from"],
|
| 61 |
+
"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 62 |
+
"manipulating_object_id": ["beer_bottle_268"],
|
| 63 |
+
"memory_prefix": ["the other"],
|
| 64 |
+
"spatial_prefix": [["", "middle_level"]],
|
| 65 |
+
"frame_duration": [3735, 4356],
|
| 66 |
+
"mp_ef": [],
|
| 67 |
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"skill_type": ["uncoordinated"]
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"skill_idx": 5,
|
| 71 |
+
"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
+
"manipulating_object_id": [],
|
| 75 |
+
"memory_prefix": [],
|
| 76 |
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|
| 77 |
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"frame_duration": [4358, 6302],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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},
|
| 81 |
+
{
|
| 82 |
+
"skill_idx": 6,
|
| 83 |
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"skill_id": [3],
|
| 84 |
+
"skill_description": ["place on"],
|
| 85 |
+
"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 87 |
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"memory_prefix": [],
|
| 88 |
+
"spatial_prefix": [],
|
| 89 |
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"frame_duration": [6302, 6889],
|
| 90 |
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"mp_ef": [],
|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
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"skill_description": ["place on"],
|
| 97 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 98 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 99 |
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"memory_prefix": [],
|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [6889, 7015],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
+
{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 110 |
+
"manipulating_object_id": [],
|
| 111 |
+
"memory_prefix": ["back"],
|
| 112 |
+
"spatial_prefix": [],
|
| 113 |
+
"frame_duration": [7015, 9129],
|
| 114 |
+
"mp_ef": [],
|
| 115 |
+
"skill_type": ["navigation"]
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"skill_idx": 9,
|
| 119 |
+
"skill_id": [12],
|
| 120 |
+
"skill_description": ["close door"],
|
| 121 |
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"object_id": [["fridge_dszchb_0"]],
|
| 122 |
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"manipulating_object_id": [],
|
| 123 |
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"memory_prefix": [],
|
| 124 |
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"spatial_prefix": [],
|
| 125 |
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"frame_duration": [9130, 9630],
|
| 126 |
+
"mp_ef": [],
|
| 127 |
+
"skill_type": ["uncoordinated"]
|
| 128 |
+
}
|
| 129 |
+
],
|
| 130 |
+
"primitive_annotation": [
|
| 131 |
+
{
|
| 132 |
+
"primitive_idx": 0,
|
| 133 |
+
"primitive_id": [10],
|
| 134 |
+
"primitive_description": ["open door"],
|
| 135 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 136 |
+
"manipulating_object_id": [],
|
| 137 |
+
"memory_prefix": [],
|
| 138 |
+
"spatial_prefix": [],
|
| 139 |
+
"frame_duration": [57, 2678],
|
| 140 |
+
"skill_idxes": [0, 1]
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
+
"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
+
"object_id": [[["beer_bottle_267", "beer_bottle_268"], "fridge_dszchb_0"], [["beer_bottle_268", "beer_bottle_267"], "coffee_table_rlsebe_0"]],
|
| 147 |
+
"manipulating_object_id": [["beer_bottle_267", "beer_bottle_268"], ["beer_bottle_268", "beer_bottle_267"]],
|
| 148 |
+
"memory_prefix": [],
|
| 149 |
+
"spatial_prefix": [[[], ["low_level", "middle_level"]], []],
|
| 150 |
+
"frame_duration": [2682, 7015],
|
| 151 |
+
"skill_idxes": [2, 3, 4, 5, 6, 7]
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"primitive_idx": 2,
|
| 155 |
+
"primitive_id": [12],
|
| 156 |
+
"primitive_description": ["close door"],
|
| 157 |
+
"object_id": [["fridge_dszchb_0"]],
|
| 158 |
+
"manipulating_object_id": [],
|
| 159 |
+
"memory_prefix": [],
|
| 160 |
+
"spatial_prefix": [],
|
| 161 |
+
"frame_duration": [7015, 9630],
|
| 162 |
+
"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
+
]
|
| 165 |
+
}
|
annotations/task-0017/episode_00172930.json
ADDED
|
@@ -0,0 +1,165 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_name": "bringing water",
|
| 3 |
+
"data_folder": "",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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},
|
| 8 |
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|
| 9 |
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{
|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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{
|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"skill_idx": 2,
|
| 35 |
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"skill_id": [2],
|
| 36 |
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"skill_description": ["pick up from"],
|
| 37 |
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"object_id": [["beer_bottle_268", "fridge_dszchb_0"]],
|
| 38 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 39 |
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|
| 40 |
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|
| 41 |
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"frame_duration": [3217, 3663],
|
| 42 |
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|
| 43 |
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|
| 44 |
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},
|
| 45 |
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{
|
| 46 |
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"skill_idx": 3,
|
| 47 |
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"skill_id": [5],
|
| 48 |
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|
| 49 |
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"object_id": [["beer_bottle_268", "right", "left"]],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"frame_duration": [3663, 3990],
|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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{
|
| 58 |
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"skill_idx": 4,
|
| 59 |
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"skill_id": [2],
|
| 60 |
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"skill_description": ["pick up from"],
|
| 61 |
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"object_id": [["beer_bottle_267", "fridge_dszchb_0"]],
|
| 62 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 63 |
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"memory_prefix": ["the other"],
|
| 64 |
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"spatial_prefix": [["", "high_level"]],
|
| 65 |
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|
| 66 |
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"mp_ef": [],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"skill_idx": 5,
|
| 71 |
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"skill_id": [1],
|
| 72 |
+
"skill_description": ["move to"],
|
| 73 |
+
"object_id": [["coffee_table_rlsebe_0"]],
|
| 74 |
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"manipulating_object_id": [],
|
| 75 |
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"memory_prefix": [],
|
| 76 |
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|
| 77 |
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"frame_duration": [4632, 6560],
|
| 78 |
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"mp_ef": [],
|
| 79 |
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"skill_type": ["navigation"]
|
| 80 |
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|
| 81 |
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{
|
| 82 |
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|
| 83 |
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|
| 84 |
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"skill_description": ["place on"],
|
| 85 |
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"object_id": [["beer_bottle_267", "coffee_table_rlsebe_0"]],
|
| 86 |
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"manipulating_object_id": ["beer_bottle_267"],
|
| 87 |
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|
| 88 |
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|
| 89 |
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"frame_duration": [6560, 7186],
|
| 90 |
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|
| 91 |
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"skill_type": ["uncoordinated"]
|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"skill_idx": 7,
|
| 95 |
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"skill_id": [3],
|
| 96 |
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"skill_description": ["place on"],
|
| 97 |
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"object_id": [["beer_bottle_268", "coffee_table_rlsebe_0"]],
|
| 98 |
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"manipulating_object_id": ["beer_bottle_268"],
|
| 99 |
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|
| 100 |
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"spatial_prefix": [],
|
| 101 |
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"frame_duration": [7186, 7262],
|
| 102 |
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"mp_ef": [],
|
| 103 |
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"skill_type": ["uncoordinated"]
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
+
"skill_idx": 8,
|
| 107 |
+
"skill_id": [1],
|
| 108 |
+
"skill_description": ["move to"],
|
| 109 |
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"object_id": [["fridge_dszchb_0"]],
|
| 110 |
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"manipulating_object_id": [],
|
| 111 |
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"memory_prefix": ["back"],
|
| 112 |
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|
| 113 |
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"frame_duration": [7262, 9242],
|
| 114 |
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"mp_ef": [],
|
| 115 |
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|
| 116 |
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},
|
| 117 |
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{
|
| 118 |
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"skill_idx": 9,
|
| 119 |
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|
| 120 |
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"skill_description": ["close door"],
|
| 121 |
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"object_id": [["fridge_dszchb_0"]],
|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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"skill_type": ["uncoordinated"]
|
| 128 |
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}
|
| 129 |
+
],
|
| 130 |
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"primitive_annotation": [
|
| 131 |
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{
|
| 132 |
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|
| 133 |
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|
| 134 |
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"primitive_description": ["open door"],
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
+
"frame_duration": [0, 3217],
|
| 140 |
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|
| 141 |
+
},
|
| 142 |
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{
|
| 143 |
+
"primitive_idx": 1,
|
| 144 |
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"primitive_id": [2, 3],
|
| 145 |
+
"primitive_description": ["pick up from", "place on"],
|
| 146 |
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"object_id": [[["beer_bottle_268", "beer_bottle_267"], "fridge_dszchb_0"], [["beer_bottle_267", "beer_bottle_268"], "coffee_table_rlsebe_0"]],
|
| 147 |
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"manipulating_object_id": [["beer_bottle_268", "beer_bottle_267"], ["beer_bottle_267", "beer_bottle_268"]],
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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|
| 155 |
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"primitive_id": [12],
|
| 156 |
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"primitive_description": ["close door"],
|
| 157 |
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"object_id": [["fridge_dszchb_0"]],
|
| 158 |
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"manipulating_object_id": [],
|
| 159 |
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|
| 160 |
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|
| 161 |
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"frame_duration": [7262, 9661],
|
| 162 |
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"skill_idxes": [8, 9]
|
| 163 |
+
}
|
| 164 |
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]
|
| 165 |
+
}
|